cleanup + move to class
This commit is contained in:
Bart Moyaers
2
.gitignore
vendored
2
.gitignore
vendored
@@ -1,2 +1,2 @@
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output.txt
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*.pyc
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608
BvhToDM.py
608
BvhToDM.py
@@ -1,55 +1,10 @@
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import bpy
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import json
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from mathutils import Vector
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from typing import Union, List
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context = bpy.context
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scene = context.scene
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# TODO: Based on a dictionary with corresponding bone names (supplied by the user): generate the DeepMimicSkeleton with the exact bone lengths as the example BVH file!
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# This should lead to almost perfectly accurate IK solutions!
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target = "rotation_prob"
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skel_name = "DeepMimicSkeleton"
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# Couple every DM_bone to BVH bone
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# Structure: (Target_bone_name: str, inherit_bone_length: bool, inherit_bone_pos: bool, use_connect: bool, bone_direction_vec: list[float])
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class BoneConstructionData:
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def __init__(self, target_name: str,
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inherit_bone_length: bool,
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inherit_bone_pos: bool,
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use_connect: bool,
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bone_direction_vec: List[float] = [0.0, 0.0, 1.0],
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use_IK: bool = False,
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use_DT: bool = False,
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IK_chain_length: int = 0):
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self.target_name = target_name
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self.inherit_bone_length = inherit_bone_length
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self.inherit_bone_pos = inherit_bone_pos
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self.use_connect = use_connect
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self.bone_direction_vec = bone_direction_vec
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self.use_IK = use_IK
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self.use_DT = use_DT
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self.IK_chain_length = IK_chain_length
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bonedict = {
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"root": BoneConstructionData("Hip", False, False, False, [0.0, 0.0, 1.0]),
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"spine": BoneConstructionData("Hip", False, False, True, [0.0, 0.0, 1.0]),
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"chest": BoneConstructionData("ShoulderCenter", False, False, True, [0.0, 0.0, 1.0], use_DT=True),
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"head": BoneConstructionData("Head", False, False, True, [0.0, 0.0, 1.0], use_DT=True),
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"right_upper_arm": BoneConstructionData("ShoulderRight", True, True, False, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=1),
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"right_lower_arm": BoneConstructionData("ElbowRight", True, False, True, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=2),
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"right_hand": BoneConstructionData("WristRight", True, False, True, [0.0, 0.0, -1.0], use_DT=True),
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"left_upper_arm": BoneConstructionData("ShoulderLeft", True, True, False, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=1),
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"left_lower_arm": BoneConstructionData("ElbowLeft", True, False, True, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=2),
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"left_hand": BoneConstructionData("WristLeft", True, False, True, [0.0, 0.0, -1.0], use_DT=True),
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"right_thigh": BoneConstructionData("HipRight", True, True, False, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=1),
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"right_shin": BoneConstructionData("KneeRight", True, False, True, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=2),
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"right_foot": BoneConstructionData("AnkleRight", True, False, True, [0.0, -1.0, 0.0], use_DT=True),
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"left_thigh": BoneConstructionData("HipLeft", True, True, False, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=1),
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"left_shin": BoneConstructionData("KneeLeft", True, False, True, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=2),
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"left_foot": BoneConstructionData("AnkleLeft", True, False, True, [0.0, -1.0, 0.0], use_DT=True),
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}
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from typing import Union, List, Dict
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import os
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# Define the structure of the DeepMimic skeleton
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child_dict = {
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"root": ["spine", "right_thigh", "left_thigh"],
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"spine": ["chest"],
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@@ -69,282 +24,329 @@ child_dict = {
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"left_foot": [],
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}
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def find_parent(bone_name, child_dict) -> Union[str, None]:
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for bone in child_dict.keys():
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if bone_name in child_dict[bone]:
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return bone
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return None
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# Joints used in the DM frame definition.
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joints = [
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"seconds", "hip", "hip", "chest", "neck", "right hip", "right knee", "right ankle",
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"right shoulder", "right elbow", "left hip", "left knee", "left ankle", "left shoulder",
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"left elbow"
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]
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# Order of which the DeepMimicSkeleton bones need to be added to frame data.
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bone_names = [
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"chest", "head", "right_thigh", "right_shin", "right_foot",
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"right_upper_arm", "right_lower_arm", "left_thigh", "left_shin", "left_foot", "left_upper_arm",
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"left_lower_arm"
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]
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# All 1D joints
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joints_1d = ["right_shin", "left_shin", "right_lower_arm", "left_lower_arm"]
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# Define ankles in order to do correct quaternion adjustment.
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ankles = ["right_foot", "left_foot"]
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def find_child(bone_name, child_dict) -> Union[str, None]:
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result = child_dict[bone_name]
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if len(result) == 1:
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return result[0]
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else:
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class BoneConstructionData:
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def __init__(self, target_name: str,
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inherit_bone_length: bool,
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inherit_bone_pos: bool,
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use_connect: bool,
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bone_direction_vec: List[float] = [0.0, 0.0, 1.0],
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use_IK: bool = False,
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use_DT: bool = False,
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IK_chain_length: int = 0):
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self.target_name = target_name
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self.inherit_bone_length = inherit_bone_length
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self.inherit_bone_pos = inherit_bone_pos
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self.use_connect = use_connect
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self.bone_direction_vec = bone_direction_vec
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self.use_IK = use_IK
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self.use_DT = use_DT
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self.IK_chain_length = IK_chain_length
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class BvhToDMSettings:
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def __init__(self, bonedict: Dict[str, BoneConstructionData], target_name: str):
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self.bonedict = bonedict
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self.child_dict = child_dict
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self.target_name = target_name
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self.skel_name = "DeepMimicSkeleton"
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self.translation_scale = 1.0
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self.output_path = os.path.dirname(os.path.realpath(__file__))
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self.output_file_name = "output.txt"
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class BvhToDM:
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def __init__(self, settings: BvhToDMSettings):
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self.settings = settings
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@staticmethod
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def tail_relative(bone, rel_vec: List[float]):
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bone.tail = [bone.head[x] + rel_vec[x] for x in range(3)]
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def find_parent(self, bone_name) -> Union[str, None]:
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for bone in self.settings.child_dict.keys():
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if bone_name in self.settings.child_dict[bone]:
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return bone
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return None
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def tail_relative(bone, rel_vec: List[float]):
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bone.tail = [bone.head[x] + rel_vec[x] for x in range(3)]
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def generate_humanoid_skeleton(target, name, bonedict, childdict):
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# First fill up dictionary with edit_bone positions
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# (Since it seems to be difficult to read the edit_bones of an armature while editing another one...)
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target_bone_head_dict = {}
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bpy.data.objects[target].select_set(True)
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if bpy.ops.object.mode_set.poll():
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bpy.ops.object.mode_set(mode='EDIT')
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for edit_bone in bpy.context.object.data.edit_bones:
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target_bone_head_dict[edit_bone.name] = [x for x in edit_bone.head]
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bpy.ops.object.mode_set(mode='OBJECT')
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# Add the armature
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bpy.ops.object.armature_add(enter_editmode=True)
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obj = bpy.data.objects["Armature"]
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obj.name = name
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# Rename armature
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armature = obj.data
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armature.name = name
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# Delete first auto-generated bone
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bpy.ops.armature.select_all(action='SELECT')
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bpy.ops.armature.delete()
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for bone_name in bonedict.keys():
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construction_data: BoneConstructionData = bonedict[bone_name]
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if bone_name == "root":
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root = armature.edit_bones.new("root")
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root.tail = (0.0, 0.0, 0.001)
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def find_child(self, bone_name) -> Union[str, None]:
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result = self.settings.child_dict[bone_name]
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if len(result) == 1:
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return result[0]
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else:
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bone = armature.edit_bones.new(bone_name)
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parent = find_parent(bone_name, childdict)
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if parent is not None:
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bone.parent = armature.edit_bones[parent]
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bone.use_connect = construction_data.use_connect
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if construction_data.inherit_bone_pos:
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bone.head = target_bone_head_dict[construction_data.target_name]
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if construction_data.inherit_bone_length:
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length = bpy.data.objects[target].data.bones[construction_data.target_name].length
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tail_relative(bone, [length * x for x in construction_data.bone_direction_vec])
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return None
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def generate_humanoid_skeleton(self):
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# First fill up dictionary with edit_bone positions
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# (Since it seems to be difficult to read the edit_bones of an armature while editing another one...)
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target_bone_head_dict = {}
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bpy.data.objects[self.settings.target_name].select_set(True)
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if bpy.ops.object.mode_set.poll():
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bpy.ops.object.mode_set(mode='EDIT')
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for edit_bone in bpy.context.object.data.edit_bones:
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target_bone_head_dict[edit_bone.name] = [x for x in edit_bone.head]
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bpy.ops.object.mode_set(mode='OBJECT')
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# Add the armature
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bpy.ops.object.armature_add(enter_editmode=True)
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obj = bpy.data.objects["Armature"]
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obj.name = self.settings.skel_name
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# Rename armature
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armature = obj.data
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armature.name = self.settings.skel_name
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# Delete first auto-generated bone
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bpy.ops.armature.select_all(action='SELECT')
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bpy.ops.armature.delete()
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# Cosntruct skeleton
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for bone_name in self.settings.bonedict.keys():
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construction_data = self.settings.bonedict[bone_name]
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if bone_name == "root":
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root = armature.edit_bones.new("root")
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root.tail = (0.0, 0.0, 0.001)
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else:
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# TODO: find out some way to guess the correct bone lengths if there are no corresponding bones in the target armature...
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if bone_name in ["spine", "chest", "head"]:
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tail_relative(bone, [0.0, 0.0, 0.22])
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pass
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bone = armature.edit_bones.new(bone_name)
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parent = self.find_parent(bone_name)
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if parent is not None:
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bone.parent = armature.edit_bones[parent]
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bone.use_connect = construction_data.use_connect
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if construction_data.inherit_bone_pos:
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bone.head = target_bone_head_dict[construction_data.target_name]
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if construction_data.inherit_bone_length:
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length = bpy.data.objects[self.settings.target_name].data.bones[construction_data.target_name].length
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self.tail_relative(bone, [length * x for x in construction_data.bone_direction_vec])
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else:
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# TODO: find out some way to guess the correct bone lengths if there are no corresponding bones in the target armature...
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if bone_name in ["spine", "chest", "head"]:
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self.tail_relative(bone, [0.0, 0.0, 0.22])
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pass
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def constrain_DM_skeleton(bonedict):
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if bpy.ops.object.mode_set.poll():
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bpy.ops.object.mode_set(mode='POSE')
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# Note that pose_bones are under: bpy.data.objects[...].pose.bones
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skel = bpy.data.objects[skel_name]
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def constrain_DM_skeleton(self):
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if bpy.ops.object.mode_set.poll():
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bpy.ops.object.mode_set(mode='POSE')
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# Note that pose_bones are under: bpy.data.objects[...].pose.bones
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skel = bpy.data.objects[self.settings.skel_name]
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# Root
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root_con = skel.pose.bones['root'].constraints.new('COPY_TRANSFORMS')
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root_con.target = bpy.data.objects[target]
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root_con.subtarget = bonedict['root'].target_name
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# Root
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root_con = skel.pose.bones['root'].constraints.new('COPY_TRANSFORMS')
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root_con.target = bpy.data.objects[self.settings.target_name]
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root_con.subtarget = self.settings.bonedict['root'].target_name
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# Spine
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spine_con = skel.pose.bones['spine'].constraints.new('COPY_ROTATION')
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spine_con.target = bpy.data.objects[target]
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spine_con.subtarget = bonedict['spine'].target_name
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# Spine
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spine_con = skel.pose.bones['spine'].constraints.new('COPY_ROTATION')
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spine_con.target = bpy.data.objects[self.settings.target_name]
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spine_con.subtarget = self.settings.bonedict['spine'].target_name
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# Fixing rotation in elbow and knee joints:
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# 1) limit rotation constraint
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# 2) y- and z-rotations constrain from 0 to 0 degrees. "Fixed"
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# 3) Elbows: limit rotation in "Local space" from -180 to 0 degrees.
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# Knees: from 0 to 180 degrees
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# Knees
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rightshin = skel.pose.bones['right_shin']
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rightshin.ik_max_x = 3.1415
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rightshin.ik_min_x = 0
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rightshin.use_ik_limit_x = True
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rightshin.lock_ik_y = True
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rightshin.lock_ik_z = True
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rightshin.rotation_mode = 'AXIS_ANGLE'
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leftshin = skel.pose.bones['left_shin']
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leftshin.ik_max_x = 3.1415
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leftshin.ik_min_x = 0
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leftshin.use_ik_limit_x = True
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leftshin.lock_ik_y = True
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leftshin.lock_ik_z = True
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leftshin.rotation_mode = 'AXIS_ANGLE'
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# Elbows
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right_lower_arm = skel.pose.bones['right_lower_arm']
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right_lower_arm.ik_max_x = 0
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right_lower_arm.ik_min_x = -3.1415
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right_lower_arm.use_ik_limit_x = True
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right_lower_arm.lock_ik_y = True
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right_lower_arm.lock_ik_z = True
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right_lower_arm.rotation_mode = 'AXIS_ANGLE'
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left_lower_arm = skel.pose.bones['left_lower_arm']
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left_lower_arm.ik_max_x = 0
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left_lower_arm.ik_min_x = -3.1415
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left_lower_arm.use_ik_limit_x = True
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left_lower_arm.lock_ik_y = True
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left_lower_arm.lock_ik_z = True
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left_lower_arm.rotation_mode = 'AXIS_ANGLE'
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# IK settings
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skel.pose.ik_solver = "ITASC"
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skel.pose.ik_param.mode = "SIMULATION"
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# Fixing rotation in elbow and knee joints:
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# 1) limit rotation constraint
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# 2) y- and z-rotations constrain from 0 to 0 degrees. "Fixed"
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# 3) Elbows: limit rotation in "Local space" from -180 to 0 degrees.
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# Knees: from 0 to 180 degrees
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def _scale_skeleton(self):
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"""Old method: do not use.
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"""
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# Scale so that the distance from ankle to shoulders is the same
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# Knees
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rightshin = skel.pose.bones['right_shin']
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rightshin.ik_max_x = 3.1415
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rightshin.ik_min_x = 0
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rightshin.use_ik_limit_x = True
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rightshin.lock_ik_y = True
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rightshin.lock_ik_z = True
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rightshin.rotation_mode = 'AXIS_ANGLE'
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# Set both objects to edit mode
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if bpy.ops.object.mode_set.poll():
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bpy.ops.object.mode_set(mode='EDIT')
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leftshin = skel.pose.bones['left_shin']
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leftshin.ik_max_x = 3.1415
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leftshin.ik_min_x = 0
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leftshin.use_ik_limit_x = True
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leftshin.lock_ik_y = True
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leftshin.lock_ik_z = True
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leftshin.rotation_mode = 'AXIS_ANGLE'
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shoulder_DM = "right_upper_arm"
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shoulder_mocap = "ShoulderRight"
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ankle_DM = "right_foot"
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ankle_mocap = "AnkleRight"
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# Elbows
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right_lower_arm = skel.pose.bones['right_lower_arm']
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right_lower_arm.ik_max_x = 0
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right_lower_arm.ik_min_x = -3.1415
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right_lower_arm.use_ik_limit_x = True
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right_lower_arm.lock_ik_y = True
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right_lower_arm.lock_ik_z = True
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right_lower_arm.rotation_mode = 'AXIS_ANGLE'
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DMS = bpy.data.armatures['DeepMimicSkeleton']
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mocap_skel = bpy.data.armatures['rotation_prob']
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left_lower_arm = skel.pose.bones['left_lower_arm']
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left_lower_arm.ik_max_x = 0
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left_lower_arm.ik_min_x = -3.1415
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left_lower_arm.use_ik_limit_x = True
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left_lower_arm.lock_ik_y = True
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left_lower_arm.lock_ik_z = True
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left_lower_arm.rotation_mode = 'AXIS_ANGLE'
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# Only take into account z-component
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mocap_height = mocap_skel.bones[shoulder_mocap].head_local[2] - mocap_skel.bones[ankle_mocap].head_local[2]
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DM_height = DMS.bones[shoulder_DM].head_local[2] - DMS.bones[ankle_DM].head_local[2]
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scale_factor = mocap_height/DM_height
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# IK settings
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skel.pose.ik_solver = "ITASC"
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skel.pose.ik_param.mode = "SIMULATION"
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def scale_skeleton():
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# Scale so that the distance from ankle to shoulders is the same
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# Set both objects to edit mode
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if bpy.ops.object.mode_set.poll():
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bpy.ops.object.mode_set(mode='EDIT')
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||||
shoulder_DM = "right_upper_arm"
|
||||
shoulder_mocap = "ShoulderRight"
|
||||
ankle_DM = "right_foot"
|
||||
ankle_mocap = "AnkleRight"
|
||||
|
||||
DMS = bpy.data.armatures['DeepMimicSkeleton']
|
||||
mocap_skel = bpy.data.armatures['rotation_prob']
|
||||
|
||||
# Only take into account z-component
|
||||
mocap_height = mocap_skel.bones[shoulder_mocap].head_local[2] - mocap_skel.bones[ankle_mocap].head_local[2]
|
||||
DM_height = DMS.bones[shoulder_DM].head_local[2] - DMS.bones[ankle_DM].head_local[2]
|
||||
|
||||
scale_factor = mocap_height/DM_height
|
||||
|
||||
# Select all bones
|
||||
bpy.data.objects['DMS'].select_set(True)
|
||||
bpy.ops.armature.select_all(action='SELECT')
|
||||
|
||||
# Scale
|
||||
bpy.ops.transform.resize(value=(scale_factor, scale_factor, scale_factor))
|
||||
|
||||
def damped_track(arm, target_arm, bone: str, target_bone: str):
|
||||
constraint = arm.pose.bones[bone].constraints.new('DAMPED_TRACK')
|
||||
constraint.target = target_arm
|
||||
constraint.subtarget = target_bone
|
||||
constraint.head_tail = 1.0
|
||||
|
||||
def follow_mocap_damped_tracks(arm, target_arm, bonedict):
|
||||
for bone in bonedict.keys():
|
||||
bone_data = bonedict[bone]
|
||||
if bone_data.use_DT:
|
||||
damped_track(arm, target_arm, bone, bone_data.target_name)
|
||||
|
||||
def inverse_kinematic_constraint(arm, target_arm, bone: str, target_bone: str, chain_count: int):
|
||||
constraint = arm.pose.bones[bone].constraints.new('IK')
|
||||
constraint.target = target_arm
|
||||
constraint.subtarget = target_bone
|
||||
constraint.use_tail = True
|
||||
constraint.use_location = True
|
||||
constraint.use_stretch = True
|
||||
constraint.iterations = 500
|
||||
constraint.chain_count = chain_count
|
||||
|
||||
def follow_mocap_IK(arm, target_arm, bonedict, child_dict):
|
||||
for bone in bonedict.keys():
|
||||
bone_data = bonedict[bone]
|
||||
if bone_data.use_IK:
|
||||
inverse_kinematic_constraint(arm, target_arm, bone, bonedict[find_child(bone, child_dict)].target_name, bone_data.IK_chain_length)
|
||||
|
||||
def quat_bvh_to_DM(quat):
|
||||
# transform x -> -z and z -> -x, except for ankles and root!
|
||||
return [quat[0], -quat[3], -quat[2], -quat[1]]
|
||||
|
||||
def quat_bvh_to_DM_ankles(quat):
|
||||
# transform x -> -z and z -> x
|
||||
return [quat[0], quat[3], -quat[2], quat[1]]
|
||||
|
||||
def quat_bvh_to_DM_root(quat):
|
||||
return [quat[0], quat[3], quat[2], -quat[1]]
|
||||
|
||||
def pos_blender_DM(pos, scale):
|
||||
# y -> z, z -> -y?
|
||||
return [-scale*pos[1], scale*pos[2], -scale*pos[0]]
|
||||
|
||||
def generate_frame(arm):
|
||||
|
||||
joints = [
|
||||
"seconds", "hip", "hip", "chest", "neck", "right hip", "right knee", "right ankle",
|
||||
"right shoulder", "right elbow", "left hip", "left knee", "left ankle", "left shoulder",
|
||||
"left elbow"
|
||||
]
|
||||
|
||||
bone_names = [
|
||||
"chest", "head", "right_thigh", "right_shin", "right_foot",
|
||||
"right_upper_arm", "right_lower_arm", "left_thigh", "left_shin", "left_foot", "left_upper_arm",
|
||||
"left_lower_arm"
|
||||
]
|
||||
|
||||
joints_1d = ["right_shin", "left_shin", "right_lower_arm", "left_lower_arm"]
|
||||
ankles = ["right_foot", "left_foot"]
|
||||
|
||||
result = []
|
||||
result.append(1.0 / bpy.context.scene.render.fps)
|
||||
|
||||
translation_scale = 1.2
|
||||
pos = pos_blender_DM(arm.pose.bones['root'].head, translation_scale)
|
||||
result.extend(pos)
|
||||
root_quat = quat_bvh_to_DM_root(arm.pose.bones['root'].rotation_quaternion)
|
||||
result.extend(root_quat)
|
||||
|
||||
for bone_name in bone_names:
|
||||
if bone_name in joints_1d:
|
||||
# invert knee angles (no clue why)
|
||||
if bone_name in joints_1d[:2]:
|
||||
angle = -arm.pose.bones[bone_name].rotation_axis_angle[0]
|
||||
else:
|
||||
angle = arm.pose.bones[bone_name].rotation_axis_angle[0]
|
||||
result.append(angle)
|
||||
else:
|
||||
# TODO: these rotations are absolute rotations! But we need local rotations... In the local bone frame...
|
||||
if bone_name in ankles:
|
||||
quat_DM = quat_bvh_to_DM_ankles(arm.pose.bones[bone_name].rotation_quaternion)
|
||||
else:
|
||||
quat_DM = quat_bvh_to_DM(arm.pose.bones[bone_name].rotation_quaternion)
|
||||
result.extend([x for x in quat_DM])
|
||||
|
||||
return result
|
||||
|
||||
def generate_frames(arm):
|
||||
if bpy.ops.object.mode_set.poll():
|
||||
bpy.ops.object.mode_set(mode='EDIT')
|
||||
# Select all bones
|
||||
bpy.data.objects[skel_name].select_set(True)
|
||||
bpy.data.objects['DMS'].select_set(True)
|
||||
bpy.ops.armature.select_all(action='SELECT')
|
||||
|
||||
if bpy.ops.object.mode_set.poll():
|
||||
bpy.ops.object.mode_set(mode='POSE')
|
||||
# Scale
|
||||
bpy.ops.transform.resize(value=(scale_factor, scale_factor, scale_factor))
|
||||
|
||||
frames = []
|
||||
loopText = "none"
|
||||
for frame in range(bpy.context.scene.frame_start, bpy.context.scene.frame_end + 1):
|
||||
# for frame in range(bpy.context.scene.frame_end + 1):
|
||||
bpy.context.scene.frame_set(frame)
|
||||
# Apply visual transform to pose
|
||||
bpy.ops.pose.visual_transform_apply()
|
||||
# bpy.context.view_layer.update()
|
||||
frames.append(generate_frame(arm))
|
||||
def damped_track(self, bone: str, target_bone: str):
|
||||
constraint = bpy.data.objects[self.settings.skel_name].pose.bones[bone].constraints.new('DAMPED_TRACK')
|
||||
constraint.target = bpy.data.objects[self.settings.target_name]
|
||||
constraint.subtarget = target_bone
|
||||
constraint.head_tail = 1.0
|
||||
|
||||
# Output in dictionary format for easy json dump
|
||||
outputDict = {
|
||||
"Loop": loopText, # "none" or "wrap"
|
||||
"Frames": frames
|
||||
}
|
||||
def follow_mocap_damped_tracks(self):
|
||||
for bone in self.settings.bonedict.keys():
|
||||
bone_data = self.settings.bonedict[bone]
|
||||
if bone_data.use_DT:
|
||||
self.damped_track(bone, bone_data.target_name)
|
||||
|
||||
return json.dumps(outputDict, indent=4)
|
||||
def inverse_kinematic_constraint(self, bone: str, target_bone: str, chain_count: int):
|
||||
constraint = bpy.data.objects[self.settings.skel_name].pose.bones[bone].constraints.new('IK')
|
||||
constraint.target = bpy.data.objects[self.settings.target_name]
|
||||
constraint.subtarget = target_bone
|
||||
constraint.use_tail = True
|
||||
constraint.use_location = True
|
||||
constraint.use_stretch = True
|
||||
constraint.iterations = 500
|
||||
constraint.chain_count = chain_count
|
||||
|
||||
def follow_mocap_IK(self):
|
||||
for bone in self.settings.bonedict.keys():
|
||||
bone_data = self.settings.bonedict[bone]
|
||||
if bone_data.use_IK:
|
||||
self.inverse_kinematic_constraint(
|
||||
bone,
|
||||
self.settings.bonedict[self.find_child(bone)].target_name,
|
||||
bone_data.IK_chain_length
|
||||
)
|
||||
|
||||
generate_humanoid_skeleton(target, skel_name, bonedict, child_dict)
|
||||
constrain_DM_skeleton(bonedict)
|
||||
# scale_skeleton()
|
||||
# TODO: find out why these adjustments are necessary.
|
||||
# Probably has to do with:
|
||||
# 1) In which direction the bone's rest position is defined.
|
||||
# 2) The difference in worldframes. (Different axes between Blender and DeepMimic.)
|
||||
@staticmethod
|
||||
def quat_bvh_to_DM(quat):
|
||||
# transform x -> -z and z -> -x, except for ankles and root!
|
||||
return [quat[0], -quat[3], -quat[2], -quat[1]]
|
||||
|
||||
DMS = bpy.data.objects[skel_name]
|
||||
target_arm = bpy.data.objects[target]
|
||||
follow_mocap_damped_tracks(DMS, target_arm, bonedict)
|
||||
follow_mocap_IK(DMS, target_arm, bonedict, child_dict)
|
||||
@staticmethod
|
||||
def quat_bvh_to_DM_ankles(quat):
|
||||
# transform x -> -z and z -> x
|
||||
return [quat[0], quat[3], -quat[2], quat[1]]
|
||||
|
||||
# Save all quaternions in DeepMimic format, frame per frame!
|
||||
generated_text = generate_frames(DMS)
|
||||
# print(generated_text)
|
||||
with open("C:\\UntrackedGit\\BvhToDM_Blender"+ "\\output.txt", "w") as output:
|
||||
output.write(generated_text)
|
||||
@staticmethod
|
||||
def quat_bvh_to_DM_root(quat):
|
||||
return [quat[0], quat[3], quat[2], -quat[1]]
|
||||
|
||||
@staticmethod
|
||||
def pos_blender_DM(pos, scale):
|
||||
# y -> z, z -> -y?
|
||||
return [-scale*pos[1], scale*pos[2], -scale*pos[0]]
|
||||
|
||||
def generate_frame(self, translation_scale):
|
||||
arm = bpy.data.objects[self.settings.skel_name]
|
||||
result = []
|
||||
result.append(1.0 / bpy.context.scene.render.fps)
|
||||
|
||||
pos = self.pos_blender_DM(arm.pose.bones['root'].head, translation_scale)
|
||||
result.extend(pos)
|
||||
root_quat = self.quat_bvh_to_DM_root(arm.pose.bones['root'].rotation_quaternion)
|
||||
result.extend(root_quat)
|
||||
|
||||
for bone_name in bone_names:
|
||||
if bone_name in joints_1d:
|
||||
# invert knee angles (no clue why)
|
||||
if bone_name in joints_1d[:2]:
|
||||
angle = -arm.pose.bones[bone_name].rotation_axis_angle[0]
|
||||
else:
|
||||
angle = arm.pose.bones[bone_name].rotation_axis_angle[0]
|
||||
result.append(angle)
|
||||
else:
|
||||
# TODO: these rotations are absolute rotations! But we need local rotations... In the local bone frame...
|
||||
if bone_name in ankles:
|
||||
quat_DM = self.quat_bvh_to_DM_ankles(arm.pose.bones[bone_name].rotation_quaternion)
|
||||
else:
|
||||
quat_DM = self.quat_bvh_to_DM(arm.pose.bones[bone_name].rotation_quaternion)
|
||||
result.extend([x for x in quat_DM])
|
||||
|
||||
return result
|
||||
|
||||
def generate_frames(self, translation_scale):
|
||||
if bpy.ops.object.mode_set.poll():
|
||||
bpy.ops.object.mode_set(mode='EDIT')
|
||||
# Select all bones
|
||||
bpy.data.objects[self.settings.skel_name].select_set(True)
|
||||
bpy.ops.armature.select_all(action='SELECT')
|
||||
|
||||
if bpy.ops.object.mode_set.poll():
|
||||
bpy.ops.object.mode_set(mode='POSE')
|
||||
|
||||
frames = []
|
||||
loopText = "none"
|
||||
for frame in range(bpy.context.scene.frame_start, bpy.context.scene.frame_end + 1):
|
||||
# for frame in range(bpy.context.scene.frame_end + 1):
|
||||
bpy.context.scene.frame_set(frame)
|
||||
# Apply visual transform to pose
|
||||
bpy.ops.pose.visual_transform_apply()
|
||||
# bpy.context.view_layer.update()
|
||||
frames.append(self.generate_frame(translation_scale))
|
||||
|
||||
# Output in dictionary format for easy json dump
|
||||
outputDict = {
|
||||
"Loop": loopText, # "none" or "wrap"
|
||||
"Frames": frames
|
||||
}
|
||||
|
||||
return json.dumps(outputDict, indent=4)
|
||||
|
||||
def run(self):
|
||||
self.generate_humanoid_skeleton()
|
||||
self.constrain_DM_skeleton()
|
||||
self.follow_mocap_damped_tracks()
|
||||
self.follow_mocap_IK()
|
||||
|
||||
# Save all quaternions in DeepMimic format, frame per frame!
|
||||
generated_text = self.generate_frames(self.settings.translation_scale)
|
||||
# print(generated_text)
|
||||
with open(self.settings.output_path + "/" + self.settings.output_file_name, "w") as output:
|
||||
output.write(generated_text)
|
||||
0
__init__.py
Normal file
0
__init__.py
Normal file
44
run.py
Normal file
44
run.py
Normal file
@@ -0,0 +1,44 @@
|
||||
import bpy
|
||||
import sys
|
||||
import os
|
||||
|
||||
mydir = "C:\\UntrackedGit\\BvhToDM_Blender"
|
||||
if not mydir in sys.path:
|
||||
sys.path.append(mydir)
|
||||
print(mydir)
|
||||
|
||||
import BvhToDM
|
||||
import importlib
|
||||
importlib.reload(BvhToDM)
|
||||
|
||||
from BvhToDM import BoneConstructionData, BvhToDM, BvhToDMSettings
|
||||
|
||||
target_name = "rotation_prob"
|
||||
skel_name = "DeepMimicSkeleton"
|
||||
|
||||
# Couple every DM_bone to BVH bone
|
||||
# Structure: (Target_bone_name: str, inherit_bone_length: bool, inherit_bone_pos: bool, use_connect: bool, bone_direction_vec: list[float])
|
||||
bonedict = {
|
||||
"root": BoneConstructionData("Hip", False, False, False, [0.0, 0.0, 1.0]),
|
||||
"spine": BoneConstructionData("Hip", False, False, True, [0.0, 0.0, 1.0]),
|
||||
"chest": BoneConstructionData("ShoulderCenter", False, False, True, [0.0, 0.0, 1.0], use_DT=True),
|
||||
"head": BoneConstructionData("Head", False, False, True, [0.0, 0.0, 1.0], use_DT=True),
|
||||
"right_upper_arm": BoneConstructionData("ShoulderRight", True, True, False, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=1),
|
||||
"right_lower_arm": BoneConstructionData("ElbowRight", True, False, True, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=2),
|
||||
"right_hand": BoneConstructionData("WristRight", True, False, True, [0.0, 0.0, -1.0], use_DT=True),
|
||||
"left_upper_arm": BoneConstructionData("ShoulderLeft", True, True, False, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=1),
|
||||
"left_lower_arm": BoneConstructionData("ElbowLeft", True, False, True, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=2),
|
||||
"left_hand": BoneConstructionData("WristLeft", True, False, True, [0.0, 0.0, -1.0], use_DT=True),
|
||||
"right_thigh": BoneConstructionData("HipRight", True, True, False, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=1),
|
||||
"right_shin": BoneConstructionData("KneeRight", True, False, True, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=2),
|
||||
"right_foot": BoneConstructionData("AnkleRight", True, False, True, [0.0, -1.0, 0.0], use_DT=True),
|
||||
"left_thigh": BoneConstructionData("HipLeft", True, True, False, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=1),
|
||||
"left_shin": BoneConstructionData("KneeLeft", True, False, True, [0.0, 0.0, -1.0], use_IK=True, IK_chain_length=2),
|
||||
"left_foot": BoneConstructionData("AnkleLeft", True, False, True, [0.0, -1.0, 0.0], use_DT=True),
|
||||
}
|
||||
|
||||
settings = BvhToDMSettings(bonedict, target_name)
|
||||
settings.translation_scale = 1.2
|
||||
settings.output_path = mydir
|
||||
converter = BvhToDM(settings)
|
||||
converter.run()
|
||||
Reference in New Issue
Block a user