blender/release/scripts/bvh_import.py

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#!BPY
"""
Name: 'Motion Capture (.bvh)...'
Blender: 232
Group: 'Import'
Tip: 'Import a (.bvh) motion capture file'
"""
# $Id$
#
#===============================================#
# BVH Import script 1.0 by Campbell Barton #
# 25/03/2004, euler rotation code taken from #
# Reevan Mckay's BVH import script v1.1 #
# if you have any questions about this script #
# email me ideasman@linuxmail.org #
#===============================================#
#===============================================#
# TODO: #
# * Create bones when importing #
# * Make an IPO jitter removal script #
# * Work out a better naming system #
#===============================================#
# --------------------------------------------------------------------------
# BVH Import v0.9 by Campbell Barton (AKA Ideasman)
# --------------------------------------------------------------------------
# ***** BEGIN GPL LICENSE BLOCK *****
#
# 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
# of the License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software Foundation,
# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#
# ***** END GPL LICENCE BLOCK *****
# --------------------------------------------------------------------------
import string
import math
import Blender
from Blender import Window, Object, Scene, Ipo
from Blender.Scene import Render
# # PSYCO IS CRASHING ON MY SYSTEM
# # Attempt to load psyco, speed things up
# try:
# print 'using psyco to speed up BVH importing'
# import psyco
# psyco.full()
#
# except:
# print 'psyco is not present on this system'
# Update as we load?
debug = 0
# Global scale facctor # sHOULD BE 1 BY DEFAULT
scale = 1
# Get the current scene.
scn = Scene.GetCurrent()
context = scn.getRenderingContext()
# Here we store the Ipo curves in the order they load.
channelCurves = []
# Object list
# We need this so we can loop through the objects and edit there IPO's
# Chenging there rotation to EULER rotation
objectList = []
def MAT(m):
if len(m) == 3:
return Blender.Mathutils.Matrix(m[0], m[1], m[2])
elif len(m) == 4:
return Blender.Mathutils.Matrix(m[0], m[1], m[2], m[3])
#===============================================#
# eulerRotation: converts X, Y, Z rotation #
# to eular Rotation. This entire function #
# is copied from Reevan Mckay's BVH script #
#===============================================#
# Vars used in eular rotation funtcion
DEG_TO_RAD = math.pi/180.0
RAD_TO_DEG = 180.0/math.pi
PI=3.14159
def eulerRotate(x,y,z):
#=================================
def RVMatMult3 (mat1,mat2):
#=================================
mat3=[[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0]]
for i in range(3):
for k in range(3):
for j in range(3):
mat3[i][k]=mat3[i][k]+mat1[i][j]*mat2[j][k]
mat1 = mat2 = i = k = j = None # Save memory
return mat3
#=================================
def RVAxisAngleToMat3 (rot4):
# Takes a direction vector and
# a rotation (in rads) and
# returns the rotation matrix.
# Graphics Gems I p. 466:
#=================================
mat3=[[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0]]
if math.fabs(rot4[3])>0.01:
s=math.sin(rot4[3])
c=math.cos(rot4[3])
t=1.0-math.cos(rot4[3])
else:
s=rot4[3]
c=1.0
t=0.0
x=rot4[0]; y=rot4[1]; z=rot4[2]
mat3[0][0]=t*x*x+c
mat3[0][1]=t*x*y+s*z
mat3[0][2]=t*x*z-s*y
mat3[1][0]=t*x*y-s*z
mat3[1][1]=t*y*y+c
mat3[1][2]=t*y*z+s*x
mat3[2][0]=t*x*z+s*y
mat3[2][1]=t*y*z-s*x
mat3[2][2]=t*z*z+c
rot4 = s = c = t = x = y = z = None # Save some memory
return mat3
eul = [x,y,z]
for jj in range(3):
while eul[jj] < 0:
eul[jj] = eul[jj] + 360.0
while eul[jj] >= 360.0:
eul[jj] = eul[jj] - 360.0
eul[0] = eul[0]*DEG_TO_RAD
eul[1] = eul[1]*DEG_TO_RAD
eul[2] = eul[2]*DEG_TO_RAD
xmat=RVAxisAngleToMat3([1,0,0,eul[0]])
ymat=RVAxisAngleToMat3([0,1,0,eul[1]])
zmat=RVAxisAngleToMat3([0,0,1,eul[2]])
mat=[[1.0,0.0,0.0],[0.0,1.0,0.0],[0.0,0.0,1.0]]
# Standard BVH multiplication order
mat=RVMatMult3 (zmat,mat)
mat=RVMatMult3 (xmat,mat)
mat=RVMatMult3 (ymat,mat)
'''
# Screwy Animation Master BVH multiplcation order
mat=RVMatMult3 (ymat,mat)
mat=RVMatMult3 (xmat,mat)
mat=RVMatMult3 (zmat,mat)
'''
mat = MAT(mat)
eul = mat.toEuler()
x =- eul[0]/-10
y =- eul[1]/-10
z =- eul[2]/-10
eul = mat = zmat = xmat = ymat = jj = None
return x, y, z # Returm euler roration values.
#===============================================#
# makeJoint: Here we use the node data #
# from the BVA file to create an empty #
#===============================================#
def makeJoint(name, parent, prefix, offset, channels):
# Make Empty, with the prefix in front of the name
ob = Object.New('Empty', prefix + name) # New object, ob is shorter and nicer to use.
scn.link(ob) # place the object in the current scene
# Offset Empty
ob.setLocation(offset[0]*scale, offset[1]*scale, offset[2]*scale)
# Make me a child of another empty.
# Vale of None will make the empty a root node (no parent)
if parent[-1] != None:
obParent = Object.Get(prefix + parent[-1]) # We use this a bit so refrence it here.
obParent.makeParent([ob], 0, 1) #ojbs, noninverse, 1 = not fast.
# Add Ipo's for necessary channels
newIpo = Ipo.New('Object', prefix + name)
ob.setIpo(newIpo)
for channelType in channels:
if channelType == 'Xposition':
newIpo.addCurve('LocX')
newIpo.getCurve('LocX').setInterpolation('Linear')
if channelType == 'Yposition':
newIpo.addCurve('LocY')
newIpo.getCurve('LocY').setInterpolation('Linear')
if channelType == 'Zposition':
newIpo.addCurve('LocZ')
newIpo.getCurve('LocZ').setInterpolation('Linear')
if channelType == 'Zrotation':
newIpo.addCurve('RotZ')
newIpo.getCurve('RotZ').setInterpolation('Linear')
if channelType == 'Yrotation':
newIpo.addCurve('RotY')
newIpo.getCurve('RotY').setInterpolation('Linear')
if channelType == 'Xrotation':
newIpo.addCurve('RotX')
newIpo.getCurve('RotX').setInterpolation('Linear')
# Add to object list
objectList.append(ob)
ob = newIpo = opParent = None
# Redraw if debugging
if debug: Blender.Redraw()
#===============================================#
# makeEnd: Here we make an end node #
# This is needed when adding the last bone #
#===============================================#
def makeEnd(parent, prefix, offset):
# Make Empty, with the prefix in front of the name, end nodes have no name so call it its parents name+'_end'
ob = Object.New('Empty', prefix + parent[-1] + '_end') # New object, ob is shorter and nicer to use.
scn.link(ob)
# Dont check for a parent, an end node MUST have a parent
obParent = Object.Get(prefix + parent[-1]) # We use this a bit so refrence it here.
obParent.makeParent([ob], 0, 1) #ojbs, noninverse, 1 = not fast.
# Offset Empty
ob.setLocation(offset[0]*scale, offset[1]*scale, offset[2]*scale)
# Redraw if debugging
if debug: Blender.Redraw()
#===============================================#
# MAIN FUNCTION - All things are done from here #
#===============================================#
def loadBVH(filename):
print ''
print 'BVH Importer 1.0 by Campbell Barton (Ideasman) - ideasman@linuxmail.org'
# File loading stuff
# Open the file for importing
file = open(filename, 'r')
fileData = file.readlines()
# Make a list of lines
lines = []
for fileLine in fileData:
newLine = string.split(fileLine)
if newLine != []:
lines.append(string.split(fileLine))
fileData = None
# End file loading code
# Call object names with this prefix, mainly for scenes with multiple BVH's - Can imagine most partr names are the same
# So in future
#prefix = str(len(lines)) + '_'
prefix = '_'
# Create Hirachy as empties
if lines[0][0] == 'HIERARCHY':
print 'Importing the BVH Hierarchy for:', filename
else:
return 'ERROR: This is not a BVH file'
# A liniar list of ancestors to keep track of a single objects heratage
# at any one time, this is appended and removed, dosent store tree- just a liniar list.
# ZERO is a place holder that means we are a root node. (no parents)
parent = [None]
#channelList [(<objectName>, [channelType1, channelType2...]), (<objectName>, [channelType1, channelType2...)]
channelList = []
channelIndex = -1
lineIdx = 1 # An index for the file.
while lineIdx < len(lines) -1:
#...
if lines[lineIdx][0] == 'ROOT' or lines[lineIdx][0] == 'JOINT':
# MAY NEED TO SUPPORT MULTIPLE ROOT's HERE!!!, Still unsure weather multiple roots are possible.??
print len(parent) * ' ' + 'node:',lines[lineIdx][1],' parent:',parent[-1]
name = lines[lineIdx][1]
lineIdx += 2 # Incriment to the next line (Offset)
offset = ( eval(lines[lineIdx][1]), eval(lines[lineIdx][2]), eval(lines[lineIdx][3]) )
lineIdx += 1 # Incriment to the next line (Channels)
# newChannel[Xposition, Yposition, Zposition, Xrotation, Yrotation, Zrotation]
# newChannel has Indecies to the motiondata,
# -1 refers to the last value that will be added on loading at a value of zero
# We'll add a zero value onto the end of the MotionDATA so this is always refers to a value.
newChannel = [-1, -1, -1, -1, -1, -1]
for channel in lines[lineIdx][2:]:
channelIndex += 1 # So the index points to the right channel
if channel == 'Xposition':
newChannel[0] = channelIndex
elif channel == 'Yposition':
newChannel[1] = channelIndex
elif channel == 'Zposition':
newChannel[2] = channelIndex
elif channel == 'Xrotation':
newChannel[3] = channelIndex
elif channel == 'Yrotation':
newChannel[4] = channelIndex
elif channel == 'Zrotation':
newChannel[5] = channelIndex
channelList.append(newChannel)
channels = lines[lineIdx][2:]
# Call funtion that uses the gatrhered data to make an empty.
makeJoint(name, parent, prefix, offset, channels)
# If we have another child then we can call ourselves a parent, else
parent.append(name)
# Account for an end node
if lines[lineIdx][0] == 'End' and lines[lineIdx][1] == 'Site': # There is somtimes a name afetr 'End Site' but we will ignore it.
lineIdx += 2 # Incriment to the next line (Offset)
offset = ( eval(lines[lineIdx][1]), eval(lines[lineIdx][2]), eval(lines[lineIdx][3]) )
makeEnd(parent, prefix, offset)
# Just so we can remove the Parents in a uniform way- End end never has kids
# so this is a placeholder
parent.append(None)
if lines[lineIdx] == ['}']:
parent = parent[:-1] # Remove the last item
#=============================================#
# BVH Structure loaded, Now import motion #
#=============================================#
if lines[lineIdx] == ['MOTION']:
print '\nImporting motion data'
lineIdx += 3 # Set the cursor to the forst frame
#=============================================#
# Loop through frames, each line a frame #
#=============================================#
currentFrame = 1
print 'frames: ',
#=============================================#
# Add a ZERO keyframe, this keeps the rig #
# so when we export we know where all the #
# joints start from #
#=============================================#
obIdx = 0
while obIdx < len(objectList) -1:
if channelList[obIdx][0] != -1:
objectList[obIdx].getIpo().getCurve('LocX').addBezier((currentFrame,0))
if channelList[obIdx][1] != -1:
objectList[obIdx].getIpo().getCurve('LocY').addBezier((currentFrame,0))
if channelList[obIdx][2] != -1:
objectList[obIdx].getIpo().getCurve('LocZ').addBezier((currentFrame,0))
if channelList[obIdx][3] != '-1' or channelList[obIdx][4] != '-1' or channelList[obIdx][5] != '-1':
objectList[obIdx].getIpo().getCurve('RotX').addBezier((currentFrame,0))
objectList[obIdx].getIpo().getCurve('RotY').addBezier((currentFrame,0))
objectList[obIdx].getIpo().getCurve('RotZ').addBezier((currentFrame,0))
obIdx += 1
while lineIdx < len(lines):
# Exit loop if we are past the motiondata.
# Some BVH's have extra tags like 'CONSTRAINTS and MOTIONTAGS'
# I dont know what they do and I dont care, they'll be ignored here.
if len(lines[lineIdx]) < len(objectList):
print '...ending on unknown tags'
break
currentFrame += 1 # Incriment to next frame
#=============================================#
# Import motion data and assign it to an IPO #
#=============================================#
lines[lineIdx].append('0') # Use this as a dummy var for objects that dont have a rotate channel.
obIdx = 0
if debug: Blender.Redraw()
while obIdx < len(objectList) -1:
if channelList[obIdx][0] != -1:
objectList[obIdx].getIpo().getCurve('LocX').addBezier((currentFrame, scale * eval(lines[lineIdx][channelList[obIdx][0]])))
if channelList[obIdx][1] != -1:
objectList[obIdx].getIpo().getCurve('LocY').addBezier((currentFrame, scale * eval(lines[lineIdx][channelList[obIdx][1]])))
if channelList[obIdx][2] != -1:
objectList[obIdx].getIpo().getCurve('LocZ').addBezier((currentFrame, scale * eval(lines[lineIdx][channelList[obIdx][2]])))
if channelList[obIdx][3] != '-1' or channelList[obIdx][4] != '-1' or channelList[obIdx][5] != '-1':
x, y, z = eulerRotate(eval(lines[lineIdx][channelList[obIdx][3]]), eval(lines[lineIdx][channelList[obIdx][4]]), eval(lines[lineIdx][channelList[obIdx][5]]))
objectList[obIdx].getIpo().getCurve('RotX').addBezier((currentFrame, x))
objectList[obIdx].getIpo().getCurve('RotY').addBezier((currentFrame, y))
objectList[obIdx].getIpo().getCurve('RotZ').addBezier((currentFrame, z))
obIdx += 1
# Done importing motion data #
lines[lineIdx] = None # Scrap old motion data, save some memory?
lineIdx += 1
# We have finished now
print currentFrame, 'done.'
# No point in looking further, when this loop is done
# There is nothine else left to do
print 'Imported ', currentFrame, ' frames'
break
# Main file loop
lineIdx += 1
Blender.Window.FileSelector(loadBVH, "Import BVH")