committing Motion Capture Add-on - Final deliverable for GSoC project 2011

thanks to Benjy Cook
well done!

1 files changed, 557 insertions, 0 deletions

diff --git a/mocap/retarget.py b/mocap/retarget.py
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--- /dev/null
+++ b/mocap/retarget.py
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+# ##### 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+#
+# ##### END GPL LICENSE BLOCK #####
+
+# <pep8 compliant>
+
+import bpy
+from mathutils import *
+from math import radians, acos, pi
+from bl_operators import nla
+
+
+def hasIKConstraint(pose_bone):
+    #utility function / predicate, returns True if given bone has IK constraint
+    ik = [constraint for constraint in pose_bone.constraints if constraint.type == "IK"]
+    if ik:
+        return ik[0]
+    else:
+        return False
+
+
+def createDictionary(perf_arm, end_arm):
+    # clear any old data
+    for end_bone in end_arm.bones:
+        for mapping in end_bone.reverseMap:
+            end_bone.reverseMap.remove(0)
+
+    for perf_bone in perf_arm.bones:
+        #find its match and add perf_bone to the match's mapping
+        if perf_bone.map:
+            end_bone = end_arm.bones[perf_bone.map]
+            newMap = end_bone.reverseMap.add()
+            newMap.name = perf_bone.name
+            end_bone.foot = perf_bone.foot
+
+    #root is the root of the enduser
+    root = end_arm.bones[0].name
+    feetBones = [bone.name for bone in perf_arm.bones if bone.foot]
+    return feetBones, root
+
+
+def loadMapping(perf_arm, end_arm):
+    for end_bone in end_arm.bones:
+        #find its match and add perf_bone to the match's mapping
+        if end_bone.reverseMap:
+            for perf_bone in end_bone.reverseMap:
+                perf_arm.bones[perf_bone.name].map = end_bone.name
+
+#creation of intermediate armature
+# the intermediate armature has the hiearchy of the end user,
+# does not have rotation inheritence
+# and bone roll is identical to the performer
+# its purpose is to copy over the rotations
+# easily while concentrating on the hierarchy changes
+
+
+def createIntermediate(performer_obj, enduser_obj, root, s_frame, e_frame, scene, step):
+    #creates and keyframes an empty with its location
+    #the original position of the tail bone
+    #useful for storing the important data in the original motion
+    #i.e. using this empty to IK the chain to that pos / DEBUG
+
+    #Simple 1to1 retarget of a bone
+    def singleBoneRetarget(inter_bone, perf_bone):
+            perf_world_rotation = perf_bone.matrix
+            inter_world_base_rotation = inter_bone.bone.matrix_local
+            inter_world_base_inv = inter_world_base_rotation.inverted()
+            bake_matrix = (inter_world_base_inv.to_3x3() * perf_world_rotation.to_3x3())
+            return bake_matrix.to_4x4()
+
+    #uses 1to1 and interpolation/averaging to match many to 1 retarget
+    def manyPerfToSingleInterRetarget(inter_bone, performer_bones_s):
+        retarget_matrices = [singleBoneRetarget(inter_bone, perf_bone) for perf_bone in performer_bones_s]
+        lerp_matrix = Matrix()
+        for i in range(len(retarget_matrices) - 1):
+            first_mat = retarget_matrices[i]
+            next_mat = retarget_matrices[i + 1]
+            lerp_matrix = first_mat.lerp(next_mat, 0.5)
+        return lerp_matrix
+
+    #determines the type of hierachy change needed and calls the
+    #right function
+    def retargetPerfToInter(inter_bone):
+        if inter_bone.bone.reverseMap:
+            perf_bone_name = inter_bone.bone.reverseMap
+                # 1 to many not supported yet
+                # then its either a many to 1 or 1 to 1
+            if len(perf_bone_name) > 1:
+                performer_bones_s = [performer_bones[map.name] for map in perf_bone_name]
+                #we need to map several performance bone to a single
+                inter_bone.matrix_basis = manyPerfToSingleInterRetarget(inter_bone, performer_bones_s)
+            else:
+                perf_bone = performer_bones[perf_bone_name[0].name]
+                inter_bone.matrix_basis = singleBoneRetarget(inter_bone, perf_bone)
+        #Some bones have incorrect roll on the source armature, and need to be marked for fixing
+        if inter_bone.bone.twistFix:
+            inter_bone.matrix_basis *= Matrix.Rotation(radians(180), 4, "Y")
+        rot_mode = inter_bone.rotation_mode
+        if rot_mode == "QUATERNION":
+            inter_bone.keyframe_insert("rotation_quaternion")
+        elif rot_mode == "AXIS_ANGLE":
+            inter_bone.keyframe_insert("rotation_axis_angle")
+        else:
+            inter_bone.keyframe_insert("rotation_euler")
+
+    #creates the intermediate armature object
+    inter_obj = enduser_obj.copy()
+    inter_obj.data = inter_obj.data.copy()  # duplicate data
+    bpy.context.scene.objects.link(inter_obj)
+    inter_obj.name = "intermediate"
+    bpy.context.scene.objects.active = inter_obj
+    bpy.ops.object.mode_set(mode='EDIT')
+    #add some temporary connecting bones in case end user bones are not connected to their parents
+    rollDict = {}
+    print("creating temp bones")
+    for bone in inter_obj.data.edit_bones:
+        if not bone.use_connect and bone.parent:
+            if inter_obj.data.bones[bone.parent.name].reverseMap or inter_obj.data.bones[bone.name].reverseMap:
+                newBone = inter_obj.data.edit_bones.new("Temp")
+                newBone.head = bone.parent.tail
+                newBone.tail = bone.head
+                newBone.parent = bone.parent
+                bone.parent = newBone
+                bone.use_connect = True
+                newBone.use_connect = True
+        rollDict[bone.name] = bone.roll
+        bone.roll = 0
+    #resets roll
+    print("retargeting to intermediate")
+    bpy.ops.object.mode_set(mode="OBJECT")
+    inter_obj.data.name = "inter_arm"
+    inter_arm = inter_obj.data
+    performer_bones = performer_obj.pose.bones
+    inter_bones = inter_obj.pose.bones
+    #clears inheritance
+    for inter_bone in inter_bones:
+        if inter_bone.bone.reverseMap:
+            inter_bone.bone.use_inherit_rotation = False
+        else:
+            inter_bone.bone.use_inherit_rotation = True
+
+    for t in range(s_frame, e_frame, step):
+        if (t - s_frame) % 10 == 0:
+            print("First pass: retargeting frame {0}/{1}".format(t, e_frame - s_frame))
+        scene.frame_set(t)
+        for bone in inter_bones:
+            retargetPerfToInter(bone)
+
+    return inter_obj
+
+# this procedure copies the rotations over from the intermediate
+# armature to the end user one.
+# As the hierarchies are 1 to 1, this is a simple matter of
+# copying the rotation, while keeping in mind bone roll, parenting, etc.
+# TODO: Control Bones: If a certain bone is constrained in a way
+#       that its rotation is determined by another (a control bone)
+#       We should determine the right pos of the control bone.
+#       Scale: ? Should work but needs testing.
+
+
+def retargetEnduser(inter_obj, enduser_obj, root, s_frame, e_frame, scene, step):
+    inter_bones = inter_obj.pose.bones
+    end_bones = enduser_obj.pose.bones
+
+    #Basic "visual baking" function, for transfering rotations from intermediate to end user
+    def bakeTransform(end_bone):
+        src_bone = inter_bones[end_bone.name]
+        trg_bone = end_bone
+        bake_matrix = src_bone.matrix
+        rest_matrix = trg_bone.bone.matrix_local
+
+        if trg_bone.parent and trg_bone.bone.use_inherit_rotation:
+            srcParent = src_bone.parent
+            if "Temp" in srcParent.name:
+                srcParent = srcParent.parent
+            parent_mat = srcParent.matrix
+            parent_rest = trg_bone.parent.bone.matrix_local
+            parent_rest_inv = parent_rest.inverted()
+            parent_mat_inv = parent_mat.inverted()
+            bake_matrix = parent_mat_inv * bake_matrix
+            rest_matrix = parent_rest_inv * rest_matrix
+
+        rest_matrix_inv = rest_matrix.inverted()
+        bake_matrix = rest_matrix_inv * bake_matrix
+        end_bone.matrix_basis = bake_matrix
+        rot_mode = end_bone.rotation_mode
+        if rot_mode == "QUATERNION":
+            end_bone.keyframe_insert("rotation_quaternion")
+        elif rot_mode == "AXIS_ANGLE":
+            end_bone.keyframe_insert("rotation_axis_angle")
+        else:
+            end_bone.keyframe_insert("rotation_euler")
+        if not end_bone.bone.use_connect:
+            end_bone.keyframe_insert("location")
+
+        for bone in end_bone.children:
+            bakeTransform(bone)
+
+    for t in range(s_frame, e_frame, step):
+        if (t - s_frame) % 10 == 0:
+            print("Second pass: retargeting frame {0}/{1}".format(t, e_frame - s_frame))
+        scene.frame_set(t)
+        end_bone = end_bones[root]
+        end_bone.location = Vector((0, 0, 0))
+        end_bone.keyframe_insert("location")
+        bakeTransform(end_bone)
+
+#recieves the performer feet bones as a variable
+# by "feet" I mean those bones that have plants
+# (they don't move, despite root moving) somewhere in the animation.
+
+
+def copyTranslation(performer_obj, enduser_obj, perfFeet, root, s_frame, e_frame, scene, enduser_obj_mat):
+
+    perf_bones = performer_obj.pose.bones
+    end_bones = enduser_obj.pose.bones
+
+    perfRoot = perf_bones[0].name
+    endFeet = [perf_bones[perfBone].bone.map for perfBone in perfFeet]
+    locDictKeys = perfFeet + endFeet + [perfRoot]
+
+    def tailLoc(bone):
+        return bone.center + (bone.vector / 2)
+
+    #Step 1 - we create a dict that contains these keys:
+    #(Performer) Hips, Feet
+    #(End user) Feet
+    # where the values are their world position on each frame in range (s,e)
+
+    locDict = {}
+    for key in locDictKeys:
+        locDict[key] = []
+
+    for t in range(scene.frame_start, scene.frame_end):
+        scene.frame_set(t)
+        for bone in perfFeet:
+            locDict[bone].append(tailLoc(perf_bones[bone]))
+        locDict[perfRoot].append(tailLoc(perf_bones[perfRoot]))
+        for bone in endFeet:
+            locDict[bone].append(tailLoc(end_bones[bone]))
+
+    # now we take our locDict and analyze it.
+    # we need to derive all chains
+
+    def locDeriv(key, t):
+        graph = locDict[key]
+        return graph[t + 1] - graph[t]
+
+    # now find the plant frames, where perfFeet don't move much
+
+    linearAvg = []
+
+    for key in perfFeet:
+        for i in range(len(locDict[key]) - 1):
+            v = locDeriv(key, i)
+            if (v.length < 0.1):
+                hipV = locDeriv(perfRoot, i)
+                endV = locDeriv(perf_bones[key].bone.map, i)
+                #this is a plant frame.
+                #lets see what the original hip delta is, and the corresponding
+                #end bone's delta
+                if endV.length != 0:
+                    linearAvg.append(hipV.length / endV.length)
+
+    action_name = performer_obj.animation_data.action.name
+    #is there a stride_bone?
+    if "stride_bone" in bpy.data.objects:
+        stride_action = bpy.data.actions.new("Stride Bone " + action_name)
+        stride_action.use_fake_user = True
+        stride_bone = enduser_obj.parent
+        stride_bone.animation_data.action = stride_action
+    else:
+        bpy.ops.object.mode_set(mode='OBJECT')
+        bpy.ops.object.add()
+        stride_bone = bpy.context.active_object
+        stride_bone.name = "stride_bone"
+    stride_bone.location = enduser_obj_mat.to_translation()
+    if linearAvg:
+        #determine the average change in scale needed
+        avg = sum(linearAvg) / len(linearAvg)
+        scene.frame_set(s_frame)
+        initialPos = (tailLoc(perf_bones[perfRoot]) / avg)
+        for t in range(s_frame, e_frame):
+            scene.frame_set(t)
+            #calculate the new position, by dividing by the found ratio between performer and enduser
+            newTranslation = (tailLoc(perf_bones[perfRoot]) / avg)
+            stride_bone.location = enduser_obj_mat * (newTranslation - initialPos)
+            stride_bone.keyframe_insert("location")
+    else:
+        stride_bone.keyframe_insert("location")
+    stride_bone.animation_data.action.name = ("Stride Bone " + action_name)
+
+    return stride_bone
+
+
+def IKRetarget(performer_obj, enduser_obj, s_frame, e_frame, scene, step):
+    bpy.ops.object.select_name(name=enduser_obj.name, extend=False)
+    end_bones = enduser_obj.pose.bones
+    for pose_bone in end_bones:
+        ik_constraint = hasIKConstraint(pose_bone)
+        if ik_constraint:
+            target_is_bone = False
+            # set constraint target to corresponding empty if targetless,
+            # if not, keyframe current target to corresponding empty
+            perf_bone = pose_bone.bone.reverseMap[-1].name
+            bpy.ops.object.mode_set(mode='EDIT')
+            orgLocTrg = originalLocationTarget(pose_bone, enduser_obj)
+            bpy.ops.object.mode_set(mode='OBJECT')
+            if not ik_constraint.target:
+                ik_constraint.target = enduser_obj
+                ik_constraint.subtarget = pose_bone.name + "IK"
+                target = orgLocTrg
+
+            # There is a target now
+            if ik_constraint.subtarget:
+                target = ik_constraint.target.pose.bones[ik_constraint.subtarget]
+                target.bone.use_local_location = False
+                target_is_bone = True
+            else:
+                target = ik_constraint.target
+
+            # bake the correct locations for the ik target bones
+            for t in range(s_frame, e_frame, step):
+                scene.frame_set(t)
+                if target_is_bone:
+                    final_loc = pose_bone.tail - target.bone.matrix_local.to_translation()
+                else:
+                    final_loc = pose_bone.tail
+                target.location = final_loc
+                target.keyframe_insert("location")
+            ik_constraint.mute = False
+    scene.frame_set(s_frame)
+    bpy.ops.object.mode_set(mode='OBJECT')
+
+
+def turnOffIK(enduser_obj):
+    end_bones = enduser_obj.pose.bones
+    for pose_bone in end_bones:
+        ik_constraint = hasIKConstraint(pose_bone)
+        if ik_constraint:
+            ik_constraint.mute = True
+
+
+#copy the object matrixes and clear them (to be reinserted later)
+def cleanAndStoreObjMat(performer_obj, enduser_obj):
+    perf_obj_mat = performer_obj.matrix_world.copy()
+    enduser_obj_mat = enduser_obj.matrix_world.copy()
+    zero_mat = Matrix()
+    performer_obj.matrix_world = zero_mat
+    enduser_obj.matrix_world = zero_mat
+    return perf_obj_mat, enduser_obj_mat
+
+
+#restore the object matrixes after parenting the auto generated IK empties
+def restoreObjMat(performer_obj, enduser_obj, perf_obj_mat, enduser_obj_mat, stride_bone, scene, s_frame):
+    pose_bones = enduser_obj.pose.bones
+    for pose_bone in pose_bones:
+        if pose_bone.name + "Org" in bpy.data.objects:
+            empty = bpy.data.objects[pose_bone.name + "Org"]
+            empty.parent = stride_bone
+    performer_obj.matrix_world = perf_obj_mat
+    enduser_obj.parent = stride_bone
+    scene.frame_set(s_frame)
+    enduser_obj_mat = enduser_obj_mat.to_3x3().to_4x4() * Matrix.Translation(stride_bone.matrix_world.to_translation())
+    enduser_obj.matrix_world = enduser_obj_mat
+
+
+#create (or return if exists) the related IK empty to the bone
+def originalLocationTarget(end_bone, enduser_obj):
+    if not end_bone.name + "IK" in enduser_obj.data.bones:
+        newBone = enduser_obj.data.edit_bones.new(end_bone.name + "IK")
+        newBone.head = end_bone.tail
+        newBone.tail = end_bone.tail + Vector((0, 0.1, 0))
+    else:
+        newBone = enduser_obj.pose.bones[end_bone.name + "IK"]
+    return newBone
+
+
+#create the specified NLA setup for base animation, constraints and tweak layer.
+def NLASystemInitialize(enduser_arm, context):
+    enduser_obj = context.active_object
+    NLATracks = enduser_arm.mocapNLATracks[enduser_obj.data.active_mocap]
+    name = NLATracks.name
+    anim_data = enduser_obj.animation_data
+    s_frame = 0
+    if ("Base " + name) in bpy.data.actions:
+        mocapAction = bpy.data.actions[("Base " + name)]
+    else:
+        print("That retargeted anim has no base action")
+    anim_data.use_nla = True
+    for track in anim_data.nla_tracks:
+        anim_data.nla_tracks.remove(track)
+    mocapTrack = anim_data.nla_tracks.new()
+    mocapTrack.name = "Base " + name
+    NLATracks.base_track = mocapTrack.name
+    mocapStrip = mocapTrack.strips.new("Base " + name, s_frame, mocapAction)
+    constraintTrack = anim_data.nla_tracks.new()
+    constraintTrack.name = "Auto fixes " + name
+    NLATracks.auto_fix_track = constraintTrack.name
+    if ("Auto fixes " + name) in bpy.data.actions:
+        constraintAction = bpy.data.actions[("Auto fixes " + name)]
+    else:
+        constraintAction = bpy.data.actions.new("Auto fixes " + name)
+        constraintAction.use_fake_user = True
+    constraintStrip = constraintTrack.strips.new("Auto fixes " + name, s_frame, constraintAction)
+    constraintStrip.extrapolation = "NOTHING"
+    userTrack = anim_data.nla_tracks.new()
+    userTrack.name = "Manual fixes " + name
+    NLATracks.manual_fix_track = userTrack.name
+    if ("Manual fixes " + name) in bpy.data.actions:
+        userAction = bpy.data.actions[("Manual fixes " + name)]
+    else:
+        userAction = bpy.data.actions.new("Manual fixes " + name)
+        userAction.use_fake_user = True
+    userStrip = userTrack.strips.new("Manual fixes " + name, s_frame, userAction)
+    userStrip.extrapolation = "HOLD"
+    userStrip.blend_type = "ADD"
+    anim_data.nla_tracks.active = constraintTrack
+    anim_data.action_extrapolation = "NOTHING"
+    #set the stride_bone's action
+    if "stride_bone" in bpy.data.objects:
+        stride_bone = bpy.data.objects["stride_bone"]
+        if NLATracks.stride_action:
+            stride_bone.animation_data.action = bpy.data.actions[NLATracks.stride_action]
+        else:
+            NLATracks.stride_action = stride_bone.animation_data.action.name
+            stride_bone.animation_data.action.use_fake_user = True
+    anim_data.action = None
+
+
+def preAdvancedRetargeting(performer_obj, enduser_obj):
+    createDictionary(performer_obj.data, enduser_obj.data)
+    bones = enduser_obj.pose.bones
+    map_bones = [bone for bone in bones if bone.bone.reverseMap]
+    perf_root = performer_obj.pose.bones[0].name
+    for bone in map_bones:
+        perf_bone = bone.bone.reverseMap[0].name
+
+        cons = bone.constraints.new('COPY_ROTATION')
+        cons.name = "retargetTemp"
+        locks = bone.lock_rotation
+        cons.use_x = not locks[0]
+        cons.use_y = not locks[1]
+        cons.use_z = not locks[2]
+        cons.target = performer_obj
+        cons.subtarget = perf_bone
+        cons.target_space = 'WORLD'
+        cons.owner_space = 'WORLD'
+
+        if (not bone.bone.use_connect) and (perf_bone != perf_root):
+            cons = bone.constraints.new('COPY_LOCATION')
+            cons.name = "retargetTemp"
+            cons.target = performer_obj
+            cons.subtarget = perf_bone
+            cons.use_x = True
+            cons.use_y = True
+            cons.use_z = True
+            cons.target_space = 'LOCAL'
+            cons.owner_space = 'LOCAL'
+
+
+def prepareForBake(enduser_obj):
+    bones = enduser_obj.pose.bones
+    for bone in bones:
+        bone.bone.select = False
+    map_bones = [bone for bone in bones if bone.bone.reverseMap]
+    for bone in map_bones:
+        for cons in bone.constraints:
+            if "retargetTemp" in cons.name:
+                bone.bone.select = True
+
+
+def cleanTempConstraints(enduser_obj):
+    bones = enduser_obj.pose.bones
+    map_bones = [bone for bone in bones if bone.bone.reverseMap]
+    for bone in map_bones:
+        for cons in bone.constraints:
+            if "retargetTemp" in cons.name:
+                bone.constraints.remove(cons)
+
+
+#Main function that runs the retargeting sequence.
+#If advanced == True, we assume constraint's were already created
+def totalRetarget(performer_obj, enduser_obj, scene, s_frame, e_frame):
+    perf_arm = performer_obj.data
+    end_arm = enduser_obj.data
+    advanced = end_arm.advancedRetarget
+    step = end_arm.frameStep
+
+    try:
+        enduser_obj.animation_data.action = bpy.data.actions.new("temp")
+        enduser_obj.animation_data.action.use_fake_user = True
+    except:
+        print("no need to create new action")
+
+    print("creating Dictionary")
+    feetBones, root = createDictionary(perf_arm, end_arm)
+    print("cleaning stuff up")
+    perf_obj_mat, enduser_obj_mat = cleanAndStoreObjMat(performer_obj, enduser_obj)
+    if not advanced:
+        turnOffIK(enduser_obj)
+        print("Creating intermediate armature (for first pass)")
+        inter_obj = createIntermediate(performer_obj, enduser_obj, root, s_frame, e_frame, scene, step)
+        print("First pass: retargeting from intermediate to end user")
+        retargetEnduser(inter_obj, enduser_obj, root, s_frame, e_frame, scene, step)
+    else:
+        prepareForBake(enduser_obj)
+        print("Retargeting pose (Advanced Retarget)")
+        nla.bake(s_frame, e_frame, action=enduser_obj.animation_data.action, only_selected=True, do_pose=True, do_object=False, step=step)
+    name = performer_obj.animation_data.action.name
+    enduser_obj.animation_data.action.name = "Base " + name
+    print("Second pass: retargeting root translation and clean up")
+    stride_bone = copyTranslation(performer_obj, enduser_obj, feetBones, root, s_frame, e_frame, scene, enduser_obj_mat)
+    if not advanced:
+        IKRetarget(performer_obj, enduser_obj, s_frame, e_frame, scene, step)
+        bpy.ops.object.select_name(name=stride_bone.name, extend=False)
+    restoreObjMat(performer_obj, enduser_obj, perf_obj_mat, enduser_obj_mat, stride_bone, scene, s_frame)
+    bpy.ops.object.mode_set(mode='OBJECT')
+    if not advanced:
+        bpy.ops.object.select_name(name=inter_obj.name, extend=False)
+        bpy.ops.object.delete()
+    else:
+        cleanTempConstraints(enduser_obj)
+    bpy.ops.object.select_name(name=enduser_obj.name, extend=False)
+
+    if not name in [tracks.name for tracks in end_arm.mocapNLATracks]:
+        NLATracks = end_arm.mocapNLATracks.add()
+        NLATracks.name = name
+    else:
+        NLATracks = end_arm.mocapNLATracks[name]
+    end_arm.active_mocap = name
+    print("retargeting done!")
+
+
+def isRigAdvanced(enduser_obj):
+    bones = enduser_obj.pose.bones
+    for bone in bones:
+        for constraint in bone.constraints:
+            if constraint.type != "IK":
+                return True
+        if enduser_obj.data.animation_data:
+            if enduser_obj.data.animation_data.drivers:
+                return True