352 lines
14 KiB
Python
352 lines
14 KiB
Python
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, 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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"chest": ["head", "right_upper_arm", "left_upper_arm"],
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"head": [],
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"right_upper_arm": ["right_lower_arm"],
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"right_lower_arm": ["right_hand"],
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"right_hand": [],
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"left_upper_arm": ["left_lower_arm"],
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"left_lower_arm": ["left_hand"],
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"left_hand": [],
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"right_thigh": ["right_shin"],
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"right_shin": ["right_foot"],
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"right_foot": [],
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"left_thigh": ["left_shin"],
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"left_shin": ["left_foot"],
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"left_foot": [],
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}
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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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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 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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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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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(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[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[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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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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# 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"
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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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DMS = bpy.data.armatures['DeepMimicSkeleton']
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mocap_skel = bpy.data.armatures['rotation_prob']
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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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# Select all bones
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bpy.data.objects['DMS'].select_set(True)
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bpy.ops.armature.select_all(action='SELECT')
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# Scale
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bpy.ops.transform.resize(value=(scale_factor, scale_factor, scale_factor))
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def damped_track(self, bone: str, target_bone: str):
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constraint = bpy.data.objects[self.settings.skel_name].pose.bones[bone].constraints.new('DAMPED_TRACK')
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constraint.target = bpy.data.objects[self.settings.target_name]
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constraint.subtarget = target_bone
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constraint.head_tail = 1.0
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def follow_mocap_damped_tracks(self):
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for bone in self.settings.bonedict.keys():
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bone_data = self.settings.bonedict[bone]
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if bone_data.use_DT:
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self.damped_track(bone, bone_data.target_name)
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def inverse_kinematic_constraint(self, bone: str, target_bone: str, chain_count: int):
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constraint = bpy.data.objects[self.settings.skel_name].pose.bones[bone].constraints.new('IK')
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constraint.target = bpy.data.objects[self.settings.target_name]
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constraint.subtarget = target_bone
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constraint.use_tail = True
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constraint.use_location = True
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constraint.use_stretch = True
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constraint.iterations = 500
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constraint.chain_count = chain_count
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def follow_mocap_IK(self):
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for bone in self.settings.bonedict.keys():
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bone_data = self.settings.bonedict[bone]
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if bone_data.use_IK:
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self.inverse_kinematic_constraint(
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bone,
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self.settings.bonedict[self.find_child(bone)].target_name,
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bone_data.IK_chain_length
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)
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# TODO: find out why these adjustments are necessary.
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# Probably has to do with:
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# 1) In which direction the bone's rest position is defined.
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# 2) The difference in worldframes. (Different axes between Blender and DeepMimic.)
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@staticmethod
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def quat_bvh_to_DM(quat):
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# transform x -> -z and z -> -x, except for ankles and root!
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return [quat[0], -quat[3], -quat[2], -quat[1]]
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@staticmethod
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def quat_bvh_to_DM_ankles(quat):
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# transform x -> -z and z -> x
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return [quat[0], quat[3], -quat[2], quat[1]]
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@staticmethod
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def quat_bvh_to_DM_root(quat):
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return [quat[0], quat[3], quat[2], -quat[1]]
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@staticmethod
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def pos_blender_DM(pos, scale):
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# y -> z, z -> -y?
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return [-scale*pos[1], scale*pos[2], -scale*pos[0]]
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def generate_frame(self, translation_scale):
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arm = bpy.data.objects[self.settings.skel_name]
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result = []
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result.append(1.0 / bpy.context.scene.render.fps)
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pos = self.pos_blender_DM(arm.pose.bones['root'].head, translation_scale)
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result.extend(pos)
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root_quat = self.quat_bvh_to_DM_root(arm.pose.bones['root'].rotation_quaternion)
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result.extend(root_quat)
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for bone_name in bone_names:
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if bone_name in joints_1d:
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# invert knee angles (no clue why)
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if bone_name in joints_1d[:2]:
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angle = -arm.pose.bones[bone_name].rotation_axis_angle[0]
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else:
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angle = arm.pose.bones[bone_name].rotation_axis_angle[0]
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result.append(angle)
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else:
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# TODO: these rotations are absolute rotations! But we need local rotations... In the local bone frame...
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if bone_name in ankles:
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quat_DM = self.quat_bvh_to_DM_ankles(arm.pose.bones[bone_name].rotation_quaternion)
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else:
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quat_DM = self.quat_bvh_to_DM(arm.pose.bones[bone_name].rotation_quaternion)
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result.extend([x for x in quat_DM])
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return result
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def generate_frames(self, translation_scale):
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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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# Select all bones
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bpy.data.objects[self.settings.skel_name].select_set(True)
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bpy.ops.armature.select_all(action='SELECT')
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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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frames = []
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loopText = "none"
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for frame in range(bpy.context.scene.frame_start, bpy.context.scene.frame_end + 1):
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# for frame in range(bpy.context.scene.frame_end + 1):
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bpy.context.scene.frame_set(frame)
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# Apply visual transform to pose
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bpy.ops.pose.visual_transform_apply()
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# bpy.context.view_layer.update()
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frames.append(self.generate_frame(translation_scale))
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# Output in dictionary format for easy json dump
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outputDict = {
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"Loop": loopText, # "none" or "wrap"
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"Frames": frames
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}
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return json.dumps(outputDict, indent=4)
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def run(self):
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self.generate_humanoid_skeleton()
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self.constrain_DM_skeleton()
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self.follow_mocap_damped_tracks()
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self.follow_mocap_IK()
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# Save all quaternions in DeepMimic format, frame per frame!
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generated_text = self.generate_frames(self.settings.translation_scale)
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# print(generated_text)
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with open(self.settings.output_path + "/" + self.settings.output_file_name, "w") as output:
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output.write(generated_text) |