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Diffstat (limited to 'io_anim_bvh/import_bvh.py')
| -rw-r--r-- | io_anim_bvh/import_bvh.py | 552 |
1 files changed, 552 insertions, 0 deletions
diff --git a/io_anim_bvh/import_bvh.py b/io_anim_bvh/import_bvh.py new file mode 100644 index 00000000..d0f3fde8 --- /dev/null +++ b/io_anim_bvh/import_bvh.py @@ -0,0 +1,552 @@ +# ##### 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> + +# Script copyright (C) Campbell Barton + +import math +from math import radians + +import bpy +import mathutils +from mathutils import Vector, Euler, Matrix + + +class bvh_node_class(object): + __slots__ = ( + 'name', # bvh joint name + 'parent', # bvh_node_class type or None for no parent + 'children', # a list of children of this type. + 'rest_head_world', # worldspace rest location for the head of this node + 'rest_head_local', # localspace rest location for the head of this node + 'rest_tail_world', # worldspace rest location for the tail of this node + 'rest_tail_local', # worldspace rest location for the tail of this node + 'channels', # list of 6 ints, -1 for an unused channel, otherwise an index for the BVH motion data lines, lock triple then rot triple + 'rot_order', # a triple of indices as to the order rotation is applied. [0,1,2] is x/y/z - [None, None, None] if no rotation. + 'rot_order_str', # same as above but a string 'XYZ' format. + 'anim_data', # a list one tuple's one for each frame. (locx, locy, locz, rotx, roty, rotz), euler rotation ALWAYS stored xyz order, even when native used. + 'has_loc', # Conveinience function, bool, same as (channels[0]!=-1 or channels[1]!=-1 channels[2]!=-1) + 'has_rot', # Conveinience function, bool, same as (channels[3]!=-1 or channels[4]!=-1 channels[5]!=-1) + 'temp') # use this for whatever you want + + _eul_order_lookup = {\ + (0, 1, 2): 'XYZ', + (0, 2, 1): 'XZY', + (1, 0, 2): 'YXZ', + (1, 2, 0): 'YZX', + (2, 0, 1): 'ZXY', + (2, 1, 0): 'ZYX'} + + def __init__(self, name, rest_head_world, rest_head_local, parent, channels, rot_order): + self.name = name + self.rest_head_world = rest_head_world + self.rest_head_local = rest_head_local + self.rest_tail_world = None + self.rest_tail_local = None + self.parent = parent + self.channels = channels + self.rot_order = tuple(rot_order) + self.rot_order_str = __class__._eul_order_lookup[self.rot_order] + + # convenience functions + self.has_loc = channels[0] != -1 or channels[1] != -1 or channels[2] != -1 + self.has_rot = channels[3] != -1 or channels[4] != -1 or channels[5] != -1 + + self.children = [] + + # list of 6 length tuples: (lx,ly,lz, rx,ry,rz) + # even if the channels arnt used they will just be zero + # + self.anim_data = [(0, 0, 0, 0, 0, 0)] + + def __repr__(self): + return 'BVH name:"%s", rest_loc:(%.3f,%.3f,%.3f), rest_tail:(%.3f,%.3f,%.3f)' %\ + (self.name,\ + self.rest_head_world.x, self.rest_head_world.y, self.rest_head_world.z,\ + self.rest_head_world.x, self.rest_head_world.y, self.rest_head_world.z) + + +def read_bvh(context, file_path, rotate_mode='XYZ', global_scale=1.0): + # File loading stuff + # Open the file for importing + file = open(file_path, 'rU') + + # Seperate into a list of lists, each line a list of words. + file_lines = file.readlines() + # Non standard carrage returns? + if len(file_lines) == 1: + file_lines = file_lines[0].split('\r') + + # Split by whitespace. + file_lines = [ll for ll in [l.split() for l in file_lines] if ll] + + # Create Hirachy as empties + if file_lines[0][0].lower() == 'hierarchy': + #print 'Importing the BVH Hierarchy for:', file_path + pass + else: + raise 'ERROR: This is not a BVH file' + + bvh_nodes = {None: None} + bvh_nodes_serial = [None] + + channelIndex = -1 + + lineIdx = 0 # An index for the file. + while lineIdx < len(file_lines) - 1: + #... + if file_lines[lineIdx][0].lower() == 'root' or file_lines[lineIdx][0].lower() == 'joint': + + # Join spaces into 1 word with underscores joining it. + if len(file_lines[lineIdx]) > 2: + file_lines[lineIdx][1] = '_'.join(file_lines[lineIdx][1:]) + file_lines[lineIdx] = file_lines[lineIdx][:2] + + # MAY NEED TO SUPPORT MULTIPLE ROOT's HERE!!!, Still unsure weather multiple roots are possible.?? + + # Make sure the names are unique- Object names will match joint names exactly and both will be unique. + name = file_lines[lineIdx][1] + + #print '%snode: %s, parent: %s' % (len(bvh_nodes_serial) * ' ', name, bvh_nodes_serial[-1]) + + lineIdx += 2 # Increment to the next line (Offset) + rest_head_local = Vector((float(file_lines[lineIdx][1]), float(file_lines[lineIdx][2]), float(file_lines[lineIdx][3]))) * global_scale + lineIdx += 1 # Increment to the next line (Channels) + + # newChannel[Xposition, Yposition, Zposition, Xrotation, Yrotation, Zrotation] + # newChannel references indecies to the motiondata, + # if not assigned then -1 refers to the last value that will be added on loading at a value of zero, this is appended + # We'll add a zero value onto the end of the MotionDATA so this is always refers to a value. + my_channel = [-1, -1, -1, -1, -1, -1] + my_rot_order = [None, None, None] + rot_count = 0 + for channel in file_lines[lineIdx][2:]: + channel = channel.lower() + channelIndex += 1 # So the index points to the right channel + if channel == 'xposition': + my_channel[0] = channelIndex + elif channel == 'yposition': + my_channel[1] = channelIndex + elif channel == 'zposition': + my_channel[2] = channelIndex + + elif channel == 'xrotation': + my_channel[3] = channelIndex + my_rot_order[rot_count] = 0 + rot_count += 1 + elif channel == 'yrotation': + my_channel[4] = channelIndex + my_rot_order[rot_count] = 1 + rot_count += 1 + elif channel == 'zrotation': + my_channel[5] = channelIndex + my_rot_order[rot_count] = 2 + rot_count += 1 + + channels = file_lines[lineIdx][2:] + + my_parent = bvh_nodes_serial[-1] # account for none + + # Apply the parents offset accumulatively + if my_parent is None: + rest_head_world = Vector(rest_head_local) + else: + rest_head_world = my_parent.rest_head_world + rest_head_local + + bvh_node = bvh_nodes[name] = bvh_node_class(name, rest_head_world, rest_head_local, my_parent, my_channel, my_rot_order) + + # If we have another child then we can call ourselves a parent, else + bvh_nodes_serial.append(bvh_node) + + # Account for an end node + if file_lines[lineIdx][0].lower() == 'end' and file_lines[lineIdx][1].lower() == 'site': # There is sometimes a name after 'End Site' but we will ignore it. + lineIdx += 2 # Increment to the next line (Offset) + rest_tail = Vector((float(file_lines[lineIdx][1]), float(file_lines[lineIdx][2]), float(file_lines[lineIdx][3]))) * global_scale + + bvh_nodes_serial[-1].rest_tail_world = bvh_nodes_serial[-1].rest_head_world + rest_tail + bvh_nodes_serial[-1].rest_tail_local = bvh_nodes_serial[-1].rest_head_local + rest_tail + + # Just so we can remove the Parents in a uniform way- End has kids + # so this is a placeholder + bvh_nodes_serial.append(None) + + if len(file_lines[lineIdx]) == 1 and file_lines[lineIdx][0] == '}': # == ['}'] + bvh_nodes_serial.pop() # Remove the last item + + if len(file_lines[lineIdx]) == 1 and file_lines[lineIdx][0].lower() == 'motion': + #print '\nImporting motion data' + lineIdx += 3 # Set the cursor to the first frame + break + + lineIdx += 1 + + # Remove the None value used for easy parent reference + del bvh_nodes[None] + # Dont use anymore + del bvh_nodes_serial + + bvh_nodes_list = bvh_nodes.values() + + while lineIdx < len(file_lines): + line = file_lines[lineIdx] + for bvh_node in bvh_nodes_list: + #for bvh_node in bvh_nodes_serial: + lx = ly = lz = rx = ry = rz = 0.0 + channels = bvh_node.channels + anim_data = bvh_node.anim_data + if channels[0] != -1: + lx = global_scale * float(line[channels[0]]) + + if channels[1] != -1: + ly = global_scale * float(line[channels[1]]) + + if channels[2] != -1: + lz = global_scale * float(line[channels[2]]) + + if channels[3] != -1 or channels[4] != -1 or channels[5] != -1: + + rx = radians(float(line[channels[3]])) + ry = radians(float(line[channels[4]])) + rz = radians(float(line[channels[5]])) + + # Done importing motion data # + anim_data.append((lx, ly, lz, rx, ry, rz)) + lineIdx += 1 + + # Assign children + for bvh_node in bvh_nodes.values(): + bvh_node_parent = bvh_node.parent + if bvh_node_parent: + bvh_node_parent.children.append(bvh_node) + + # Now set the tip of each bvh_node + for bvh_node in bvh_nodes.values(): + + if not bvh_node.rest_tail_world: + if len(bvh_node.children) == 0: + # could just fail here, but rare BVH files have childless nodes + bvh_node.rest_tail_world = Vector(bvh_node.rest_head_world) + bvh_node.rest_tail_local = Vector(bvh_node.rest_head_local) + elif len(bvh_node.children) == 1: + bvh_node.rest_tail_world = Vector(bvh_node.children[0].rest_head_world) + bvh_node.rest_tail_local = bvh_node.rest_head_local + bvh_node.children[0].rest_head_local + else: + # allow this, see above + #if not bvh_node.children: + # raise 'error, bvh node has no end and no children. bad file' + + # Removed temp for now + rest_tail_world = Vector((0.0, 0.0, 0.0)) + rest_tail_local = Vector((0.0, 0.0, 0.0)) + for bvh_node_child in bvh_node.children: + rest_tail_world += bvh_node_child.rest_head_world + rest_tail_local += bvh_node_child.rest_head_local + + bvh_node.rest_tail_world = rest_tail_world * (1.0 / len(bvh_node.children)) + bvh_node.rest_tail_local = rest_tail_local * (1.0 / len(bvh_node.children)) + + # Make sure tail isnt the same location as the head. + if (bvh_node.rest_tail_local - bvh_node.rest_head_local).length <= 0.001 * global_scale: + print("\tzero length node found:", bvh_node.name) + bvh_node.rest_tail_local.y = bvh_node.rest_tail_local.y + global_scale / 10 + bvh_node.rest_tail_world.y = bvh_node.rest_tail_world.y + global_scale / 10 + + return bvh_nodes + + +def bvh_node_dict2objects(context, bvh_name, bvh_nodes, rotate_mode='NATIVE', frame_start=1, IMPORT_LOOP=False): + + if frame_start < 1: + frame_start = 1 + + scene = context.scene + for obj in scene.objects: + obj.select = False + + objects = [] + + def add_ob(name): + obj = bpy.data.objects.new(name, None) + scene.objects.link(obj) + objects.append(obj) + obj.select = True + + # nicer drawing. + obj.empty_draw_type = 'CUBE' + obj.empty_draw_size = 0.1 + + return obj + + # Add objects + for name, bvh_node in bvh_nodes.items(): + bvh_node.temp = add_ob(name) + bvh_node.temp.rotation_mode = bvh_node.rot_order_str[::-1] + + # Parent the objects + for bvh_node in bvh_nodes.values(): + for bvh_node_child in bvh_node.children: + bvh_node_child.temp.parent = bvh_node.temp + + # Offset + for bvh_node in bvh_nodes.values(): + # Make relative to parents offset + bvh_node.temp.location = bvh_node.rest_head_local + + # Add tail objects + for name, bvh_node in bvh_nodes.items(): + if not bvh_node.children: + ob_end = add_ob(name + '_end') + ob_end.parent = bvh_node.temp + ob_end.location = bvh_node.rest_tail_world - bvh_node.rest_head_world + + for name, bvh_node in bvh_nodes.items(): + obj = bvh_node.temp + + for frame_current in range(len(bvh_node.anim_data)): + + lx, ly, lz, rx, ry, rz = bvh_node.anim_data[frame_current] + + if bvh_node.has_loc: + obj.delta_location = Vector((lx, ly, lz)) - bvh_node.rest_head_world + obj.keyframe_insert("delta_location", index=-1, frame=frame_start + frame_current) + + if bvh_node.has_rot: + obj.delta_rotation_euler = rx, ry, rz + obj.keyframe_insert("delta_rotation_euler", index=-1, frame=frame_start + frame_current) + + return objects + + +def bvh_node_dict2armature(context, bvh_name, bvh_nodes, rotate_mode='XYZ', frame_start=1, IMPORT_LOOP=False): + + if frame_start < 1: + frame_start = 1 + + # Add the new armature, + scene = context.scene + for obj in scene.objects: + obj.select = False + + arm_data = bpy.data.armatures.new(bvh_name) + arm_ob = bpy.data.objects.new(bvh_name, arm_data) + + scene.objects.link(arm_ob) + + arm_ob.select = True + scene.objects.active = arm_ob + + bpy.ops.object.mode_set(mode='OBJECT', toggle=False) + bpy.ops.object.mode_set(mode='EDIT', toggle=False) + + # Get the average bone length for zero length bones, we may not use this. + average_bone_length = 0.0 + nonzero_count = 0 + for bvh_node in bvh_nodes.values(): + l = (bvh_node.rest_head_local - bvh_node.rest_tail_local).length + if l: + average_bone_length += l + nonzero_count += 1 + + # Very rare cases all bones couldbe zero length??? + if not average_bone_length: + average_bone_length = 0.1 + else: + # Normal operation + average_bone_length = average_bone_length / nonzero_count + + # XXX, annoying, remove bone. + while arm_data.edit_bones: + arm_ob.edit_bones.remove(arm_data.edit_bones[-1]) + + ZERO_AREA_BONES = [] + for name, bvh_node in bvh_nodes.items(): + # New editbone + bone = bvh_node.temp = arm_data.edit_bones.new(name) + + bone.head = bvh_node.rest_head_world + bone.tail = bvh_node.rest_tail_world + + # ZERO AREA BONES. + if (bone.head - bone.tail).length < 0.001: + print("\tzero length bone found:", bone.name) + if bvh_node.parent: + ofs = bvh_node.parent.rest_head_local - bvh_node.parent.rest_tail_local + if ofs.length: # is our parent zero length also?? unlikely + bone.tail = bone.tail - ofs + else: + bone.tail.y = bone.tail.y + average_bone_length + else: + bone.tail.y = bone.tail.y + average_bone_length + + ZERO_AREA_BONES.append(bone.name) + + for bvh_node in bvh_nodes.values(): + if bvh_node.parent: + # bvh_node.temp is the Editbone + + # Set the bone parent + bvh_node.temp.parent = bvh_node.parent.temp + + # Set the connection state + if not bvh_node.has_loc and\ + bvh_node.parent and\ + bvh_node.parent.temp.name not in ZERO_AREA_BONES and\ + bvh_node.parent.rest_tail_local == bvh_node.rest_head_local: + bvh_node.temp.use_connect = True + + # Replace the editbone with the editbone name, + # to avoid memory errors accessing the editbone outside editmode + for bvh_node in bvh_nodes.values(): + bvh_node.temp = bvh_node.temp.name + + # Now Apply the animation to the armature + + # Get armature animation data + bpy.ops.object.mode_set(mode='OBJECT', toggle=False) + + pose = arm_ob.pose + pose_bones = pose.bones + + if rotate_mode == 'NATIVE': + for bvh_node in bvh_nodes.values(): + bone_name = bvh_node.temp # may not be the same name as the bvh_node, could have been shortened. + pose_bone = pose_bones[bone_name] + pose_bone.rotation_mode = bvh_node.rot_order_str + + elif rotate_mode != 'QUATERNION': + for pose_bone in pose_bones: + pose_bone.rotation_mode = rotate_mode + else: + # Quats default + pass + + context.scene.update() + + arm_ob.animation_data_create() + action = bpy.data.actions.new(name=bvh_name) + arm_ob.animation_data.action = action + + # Replace the bvh_node.temp (currently an editbone) + # With a tuple (pose_bone, armature_bone, bone_rest_matrix, bone_rest_matrix_inv) + for bvh_node in bvh_nodes.values(): + bone_name = bvh_node.temp # may not be the same name as the bvh_node, could have been shortened. + pose_bone = pose_bones[bone_name] + rest_bone = arm_data.bones[bone_name] + bone_rest_matrix = rest_bone.matrix_local.to_3x3() + + bone_rest_matrix_inv = Matrix(bone_rest_matrix) + bone_rest_matrix_inv.invert() + + bone_rest_matrix_inv.resize_4x4() + bone_rest_matrix.resize_4x4() + bvh_node.temp = (pose_bone, bone, bone_rest_matrix, bone_rest_matrix_inv) + + # Make a dict for fast access without rebuilding a list all the time. + + # KEYFRAME METHOD, SLOW, USE IPOS DIRECT + # TODO: use f-point samples instead (Aligorith) + if rotate_mode != 'QUATERNION': + prev_euler = [Euler() for i in range(len(bvh_nodes))] + + # Animate the data, the last used bvh_node will do since they all have the same number of frames + for frame_current in range(len(bvh_node.anim_data) - 1): # skip the first frame (rest frame) + # print frame_current + + # if frame_current==40: # debugging + # break + + scene.frame_set(frame_start + frame_current) + + # Dont neet to set the current frame + for i, bvh_node in enumerate(bvh_nodes.values()): + pose_bone, bone, bone_rest_matrix, bone_rest_matrix_inv = bvh_node.temp + lx, ly, lz, rx, ry, rz = bvh_node.anim_data[frame_current + 1] + + if bvh_node.has_rot: + # apply rotation order and convert to XYZ + # note that the rot_order_str is reversed. + bone_rotation_matrix = Euler((rx, ry, rz), bvh_node.rot_order_str[::-1]).to_matrix().to_4x4() + bone_rotation_matrix = bone_rest_matrix_inv * bone_rotation_matrix * bone_rest_matrix + + if rotate_mode == 'QUATERNION': + pose_bone.rotation_quaternion = bone_rotation_matrix.to_quaternion() + else: + euler = bone_rotation_matrix.to_euler(bvh_node.rot_order_str, prev_euler[i]) + pose_bone.rotation_euler = euler + prev_euler[i] = euler + + if bvh_node.has_loc: + pose_bone.location = (bone_rest_matrix_inv * Matrix.Translation(Vector((lx, ly, lz)) - bvh_node.rest_head_local)).to_translation() + + if bvh_node.has_loc: + pose_bone.keyframe_insert("location") + if bvh_node.has_rot: + if rotate_mode == 'QUATERNION': + pose_bone.keyframe_insert("rotation_quaternion") + else: + pose_bone.keyframe_insert("rotation_euler") + + for cu in action.fcurves: + if IMPORT_LOOP: + pass # 2.5 doenst have cyclic now? + + for bez in cu.keyframe_points: + bez.interpolation = 'LINEAR' + + return arm_ob + + +def load(operator, context, filepath="", target='ARMATURE', rotate_mode='NATIVE', global_scale=1.0, use_cyclic=False, frame_start=1): + import time + t1 = time.time() + print('\tparsing bvh %r...' % filepath, end="") + + bvh_nodes = read_bvh(context, filepath, + rotate_mode=rotate_mode, + global_scale=global_scale) + + print('%.4f' % (time.time() - t1)) + + frame_orig = context.scene.frame_current + + t1 = time.time() + print('\timporting to blender...', end="") + + bvh_name = bpy.path.display_name_from_filepath(filepath) + + if target == 'ARMATURE': + bvh_node_dict2armature(context, bvh_name, bvh_nodes, + rotate_mode=rotate_mode, + frame_start=frame_start, + IMPORT_LOOP=use_cyclic) + + elif target == 'OBJECT': + bvh_node_dict2objects(context, bvh_name, bvh_nodes, + rotate_mode=rotate_mode, + frame_start=frame_start, + IMPORT_LOOP=use_cyclic) + + else: + raise Exception("invalid type") + + print('Done in %.4f\n' % (time.time() - t1)) + + context.scene.frame_set(frame_orig) + + return {'FINISHED'} |