forked from bartvdbraak/blender
improved euler conversion, make sure new eulers are always compatible with the previous ones, means it doesnt result in bad interpolation.
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Campbell Barton
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5dd8d10336
commit
dd04e25a14
@ -77,9 +77,8 @@ MATRIX_IDENTITY_3x3 = Matrix([1,0,0],[0,1,0],[0,0,1])
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MATRIX_IDENTITY_4x4 = Matrix([1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1])
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def eulerRotate(x,y,z, rot_order):
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# Clamp all values between 0 and 360, values outside this raise an error.
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mats=[RotationMatrix(radians(x % 360), 3, 'X'), RotationMatrix(radians(y % 360),3,'Y'), RotationMatrix(radians(z % 360), 3, 'Z')]
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mats=[RotationMatrix(x, 3, 'X'), RotationMatrix(y, 3,'Y'), RotationMatrix(z, 3, 'Z')]
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# print rot_order
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# Standard BVH multiplication order, apply the rotation in the order Z,X,Y
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@ -87,7 +86,7 @@ def eulerRotate(x,y,z, rot_order):
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#eul = (mats[rot_order[2]]*(mats[rot_order[1]]* (mats[rot_order[0]]* MATRIX_IDENTITY_3x3))).to_euler()
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eul = (MATRIX_IDENTITY_3x3*mats[rot_order[0]]*(mats[rot_order[1]]* (mats[rot_order[2]]))).to_euler()
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eul = math.degrees(eul.x), math.degrees(eul.y), math.degrees(eul.z)
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eul = eul.x, eul.y, eul.z
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return eul
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@ -187,7 +186,7 @@ def read_bvh(context, file_path, ROT_MODE='XYZ', GLOBAL_SCALE=1.0):
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# Account for an end node
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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.
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lineIdx += 2 # Incriment to the next line (Offset)
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rest_tail = Vector( GLOBAL_SCALE*float(file_lines[lineIdx][1]), GLOBAL_SCALE*float(file_lines[lineIdx][2]), GLOBAL_SCALE*float(file_lines[lineIdx][3]))
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rest_tail = Vector(float(file_lines[lineIdx][1]), float(file_lines[lineIdx][2]), float(file_lines[lineIdx][3])) * GLOBAL_SCALE
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bvh_nodes_serial[-1].rest_tail_world = bvh_nodes_serial[-1].rest_head_world + rest_tail
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bvh_nodes_serial[-1].rest_tail_local = bvh_nodes_serial[-1].rest_head_local + rest_tail
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@ -235,22 +234,12 @@ def read_bvh(context, file_path, ROT_MODE='XYZ', GLOBAL_SCALE=1.0):
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rx, ry, rz = float(line[channels[3]]), float(line[channels[4]]), float(line[channels[5]])
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if ROT_MODE != 'NATIVE':
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rx, ry, rz = eulerRotate(rx, ry, rz, bvh_node.rot_order)
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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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while anim_data[-1][3] - rx > 180: rx+=360
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while anim_data[-1][3] - rx < -180: rx-=360
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while anim_data[-1][4] - ry > 180: ry+=360
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while anim_data[-1][4] - ry < -180: ry-=360
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while anim_data[-1][5] - rz > 180: rz+=360
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while anim_data[-1][5] - rz < -180: rz-=360
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rx, ry, rz = eulerRotate(radians(rx), radians(ry), radians(rz), bvh_node.rot_order)
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else:
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rx, ry, rz = radians(rx), radians(ry), radians(rz)
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# Done importing motion data #
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anim_data.append( (lx, ly, lz, rx, ry, rz) )
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anim_data.append((lx, ly, lz, rx, ry, rz))
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lineIdx += 1
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# Assign children
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@ -267,7 +256,7 @@ def read_bvh(context, file_path, ROT_MODE='XYZ', GLOBAL_SCALE=1.0):
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# could just fail here, but rare BVH files have childless nodes
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bvh_node.rest_tail_world = Vector(bvh_node.rest_head_world)
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bvh_node.rest_tail_local = Vector(bvh_node.rest_head_local)
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elif len(bvh_node.children)==1:
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elif len(bvh_node.children) == 1:
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bvh_node.rest_tail_world = Vector(bvh_node.children[0].rest_head_world)
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bvh_node.rest_tail_local = bvh_node.rest_head_local + bvh_node.children[0].rest_head_local
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else:
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@ -276,8 +265,8 @@ def read_bvh(context, file_path, ROT_MODE='XYZ', GLOBAL_SCALE=1.0):
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# raise 'error, bvh node has no end and no children. bad file'
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# Removed temp for now
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rest_tail_world = Vector(0, 0, 0)
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rest_tail_local = Vector(0, 0, 0)
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rest_tail_world = Vector(0.0, 0.0, 0.0)
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rest_tail_local = Vector(0.0, 0.0, 0.0)
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for bvh_node_child in bvh_node.children:
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rest_tail_world += bvh_node_child.rest_head_world
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rest_tail_local += bvh_node_child.rest_head_local
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@ -333,15 +322,15 @@ def bvh_node_dict2objects(context, bvh_nodes, IMPORT_START_FRAME= 1, IMPORT_LOOP
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# Animate the data, the last used bvh_node will do since they all have the same number of frames
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for current_frame in range(len(bvh_node.anim_data)):
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Blender.Set('curframe', current_frame+IMPORT_START_FRAME)
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Blender.Set('curframe', current_frame + IMPORT_START_FRAME)
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for bvh_node in bvh_nodes.values():
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lx,ly,lz,rx,ry,rz= bvh_node.anim_data[current_frame]
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lx, ly, lz, rx, ry, rz = bvh_node.anim_data[current_frame]
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rest_head_local= bvh_node.rest_head_local
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bvh_node.temp.loc= rest_head_local.x+lx, rest_head_local.y+ly, rest_head_local.z+lz
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bvh_node.temp.loc= rest_head_local + Vector(lx, ly, lz)
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bvh_node.temp.rot= radians(rx), radians(ry), radians(rz)
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bvh_node.temp.rot= rx, ry, rz
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bvh_node.temp.insertIpoKey(Blender.Object.IpoKeyTypes.LOCROT) # XXX invalid
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@ -473,7 +462,7 @@ def bvh_node_dict2armature(context, bvh_nodes, ROT_MODE='XYZ', IMPORT_START_FRAM
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for bvh_node in bvh_nodes.values():
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bone_name= bvh_node.temp # may not be the same name as the bvh_node, could have been shortened.
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pose_bone= pose_bones[bone_name]
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pose_bone.rotation_mode = eul_order_lookup[tuple(bvh_node.rot_order)]
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pose_bone.rotation_mode = eul_order_lookup[tuple(bvh_node.rot_order)]
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elif ROT_MODE=='XYZ':
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print(2)
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@ -521,6 +510,9 @@ def bvh_node_dict2armature(context, bvh_nodes, ROT_MODE='XYZ', IMPORT_START_FRAM
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# KEYFRAME METHOD, SLOW, USE IPOS DIRECT
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# TODO: use f-point samples instead (Aligorith)
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if ROT_MODE != 'QUATERNION':
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prev_euler = [Euler() for i in range(len(bvh_nodes))]
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# Animate the data, the last used bvh_node will do since they all have the same number of frames
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for current_frame in range(len(bvh_node.anim_data)-1): # skip the first frame (rest frame)
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# print current_frame
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@ -529,20 +521,23 @@ def bvh_node_dict2armature(context, bvh_nodes, ROT_MODE='XYZ', IMPORT_START_FRAM
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# break
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# Dont neet to set the current frame
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for bvh_node in bvh_nodes.values():
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for i, bvh_node in enumerate(bvh_nodes.values()):
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pose_bone, bone, bone_rest_matrix, bone_rest_matrix_inv= bvh_node.temp
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lx,ly,lz,rx,ry,rz= bvh_node.anim_data[current_frame+1]
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lx, ly, lz, rx, ry, rz = bvh_node.anim_data[current_frame + 1]
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if bvh_node.has_rot:
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bone_rotation_matrix= Euler(radians(rx), radians(ry), radians(rz)).to_matrix()
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bone_rotation_matrix.resize4x4()
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if ROT_MODE=='QUATERNION':
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pose_bone.rotation_quaternion= (bone_rest_matrix_inv * bone_rotation_matrix * bone_rest_matrix).to_quat()
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bone_rotation_matrix = Euler(rx, ry, rz).to_matrix().resize4x4()
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bone_rotation_matrix = bone_rest_matrix_inv * bone_rotation_matrix * bone_rest_matrix
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if ROT_MODE == 'QUATERNION':
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pose_bone.rotation_quaternion = bone_rotation_matrix.to_quat()
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else:
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pose_bone.rotation_euler= (bone_rest_matrix_inv * bone_rotation_matrix * bone_rest_matrix).to_euler(pose_bone.rotation_mode)
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euler = bone_rotation_matrix.to_euler('XYZ', prev_euler[i]) # pose_bone.rotation_mode # TODO, XYZ default for now
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pose_bone.rotation_euler = euler
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prev_euler[i] = euler
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if bvh_node.has_loc:
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pose_bone.location= (bone_rest_matrix_inv * TranslationMatrix(Vector(lx, ly, lz) - bvh_node.rest_head_local )).translation_part()
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pose_bone.location= (bone_rest_matrix_inv * TranslationMatrix(Vector(lx, ly, lz) - bvh_node.rest_head_local)).translation_part()
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if bvh_node.has_loc:
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pose_bone.keyframe_insert("location")
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@ -556,22 +551,12 @@ def bvh_node_dict2armature(context, bvh_nodes, ROT_MODE='XYZ', IMPORT_START_FRAM
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# bpy.ops.anim.keyframe_insert_menu(type=-4) # XXX - -4 ???
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bpy.ops.screen.frame_offset(delta=1)
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# First time, set the IPO's to linear
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#XXX #TODO
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if 0:
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if current_frame == 0:
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for ipo in action.getAllChannelIpos().values():
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if ipo:
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for cur in ipo:
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cur.interpolation = Blender.IpoCurve.InterpTypes.LINEAR
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if IMPORT_LOOP:
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cur.extend = Blender.IpoCurve.ExtendTypes.CYCLIC
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for cu in action.fcurves:
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if IMPORT_LOOP:
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pass # 2.5 doenst have cyclic now?
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else:
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for cu in action.fcurves:
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for bez in cu.keyframe_points:
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bez.interpolation = 'CONSTANT'
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for bez in cu.keyframe_points:
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bez.interpolation = 'LINEAR'
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return arm_ob
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