bvh import from 2.4x (unchanged)

1 files changed, 757 insertions, 0 deletions

diff --git a/release/scripts/io/import_bvh.py b/release/scripts/io/import_bvh.py
new file mode 100644
index 00000000000..4134503c511
--- /dev/null
+++ b/release/scripts/io/import_bvh.py
@@ -0,0 +1,757 @@
+#!BPY
+
+"""
+Name: 'Motion Capture (.bvh)...'
+Blender: 242
+Group: 'Import'
+Tip: 'Import a (.bvh) motion capture file'
+"""
+
+__author__ = "Campbell Barton"
+__url__ = ("blender.org", "blenderartists.org")
+__version__ = "1.90 06/08/01"
+
+__bpydoc__ = """\
+This script imports BVH motion capture data to Blender.
+as empties or armatures.
+"""
+
+# -------------------------------------------------------------------------- 
+# BVH Import v2.0 by Campbell Barton (AKA Ideasman) 
+# -------------------------------------------------------------------------- 
+# ***** 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., 59 Temple Place - Suite 330, Boston, MA	02111-1307, USA. 
+# 
+# ***** END GPL LICENCE BLOCK ***** 
+# -------------------------------------------------------------------------- 
+
+import Blender
+import bpy
+import BPyMessages
+Vector= Blender.Mathutils.Vector
+Euler= Blender.Mathutils.Euler
+Matrix= Blender.Mathutils.Matrix
+RotationMatrix = Blender.Mathutils.RotationMatrix
+TranslationMatrix= Blender.Mathutils.TranslationMatrix
+
+DEG2RAD = 0.017453292519943295
+
+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 indicies as to the order rotation is applied. [0,1,2] is x/y/z - [None, None, None] if no rotation.
+	'anim_data',# a list one tuple's one for each frame. (locx, locy, locz, rotx, roty, rotz)
+	'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
+	
+	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= 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)
+	
+
+
+# Change the order rotation is applied.
+MATRIX_IDENTITY_3x3 = Matrix([1,0,0],[0,1,0],[0,0,1])
+MATRIX_IDENTITY_4x4 = Matrix([1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1])
+
+def eulerRotate(x,y,z, rot_order): 
+	# Clamp all values between 0 and 360, values outside this raise an error.
+	mats=[RotationMatrix(x%360,3,'x'), RotationMatrix(y%360,3,'y'), RotationMatrix(z%360,3,'z')]
+	# print rot_order
+	# Standard BVH multiplication order, apply the rotation in the order Z,X,Y
+	return (mats[rot_order[2]]*(mats[rot_order[1]]* (mats[rot_order[0]]* MATRIX_IDENTITY_3x3))).toEuler()
+
+def read_bvh(file_path, 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 # Incriment to the next line (Offset)
+			rest_head_local = Vector( GLOBAL_SCALE*float(file_lines[lineIdx][1]), GLOBAL_SCALE*float(file_lines[lineIdx][2]), GLOBAL_SCALE*float(file_lines[lineIdx][3]) )
+			lineIdx += 1 # Incriment 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 accumletivly
+			if my_parent==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 somtimes a name after 'End Site' but we will ignore it.
+			lineIdx += 2 # Incriment to the next line (Offset)
+			rest_tail = Vector( GLOBAL_SCALE*float(file_lines[lineIdx][1]), GLOBAL_SCALE*float(file_lines[lineIdx][2]), GLOBAL_SCALE*float(file_lines[lineIdx][3]) )
+			
+			bvh_nodes_serial[-1].rest_tail_world= bvh_nodes_serial[-1].rest_head_world + rest_tail
+			bvh_nodes_serial[-1].rest_tail_local= rest_tail
+			
+			
+			# Just so we can remove the Parents in a uniform way- End end never 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, ry, rz = eulerRotate(float( line[channels[3]] ), float( line[channels[4]] ), float( line[channels[5]] ), bvh_node.rot_order)
+				#x,y,z = x/10.0, y/10.0, z/10.0 # For IPO's 36 is 360d
+				
+				# Make interpolation not cross between 180d, thjis fixes sub frame interpolation and time scaling.
+				# Will go from (355d to 365d) rather then to (355d to 5d) - inbetween these 2 there will now be a correct interpolation.
+				
+				while anim_data[-1][3] - rx >  180: rx+=360
+				while anim_data[-1][3] - rx < -180: rx-=360
+				
+				while anim_data[-1][4] - ry >  180: ry+=360
+				while anim_data[-1][4] - ry < -180: ry-=360
+				
+				while anim_data[-1][5] - rz >  180: rz+=360
+				while anim_data[-1][5] - rz < -180: rz-=360
+				
+			# Done importing motion data #
+			anim_data.append( (lx, ly, lz, rx, ry, rz) )
+		lineIdx += 1
+	
+	# Assign children
+	for bvh_node in bvh_nodes.itervalues():		
+		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.itervalues():
+		
+		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= Vector(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)
+				rest_tail_local= Vector(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:
+			
+			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(bvh_nodes, IMPORT_START_FRAME= 1, IMPORT_LOOP= False):
+	
+	if IMPORT_START_FRAME<1:
+		IMPORT_START_FRAME= 1
+		
+	scn= bpy.data.scenes.active
+	scn.objects.selected = []
+	
+	objects= []
+	
+	def add_ob(name):
+		ob = scn.objects.new('Empty')
+		objects.append(ob)
+		return ob
+	
+	# Add objects
+	for name, bvh_node in bvh_nodes.iteritems():
+		bvh_node.temp= add_ob(name)
+	
+	# Parent the objects
+	for bvh_node in bvh_nodes.itervalues():
+		bvh_node.temp.makeParent([ bvh_node_child.temp for bvh_node_child in bvh_node.children ], 1, 0) # ojbs, noninverse, 1 = not fast.
+	
+	# Offset
+	for bvh_node in bvh_nodes.itervalues():
+		# Make relative to parents offset
+		bvh_node.temp.loc= bvh_node.rest_head_local
+	
+	# Add tail objects
+	for name, bvh_node in bvh_nodes.iteritems():
+		if not bvh_node.children:
+			ob_end= add_ob(name + '_end')
+			bvh_node.temp.makeParent([ob_end], 1, 0) # ojbs, noninverse, 1 = not fast.
+			ob_end.loc= bvh_node.rest_tail_local
+	
+	
+	# Animate the data, the last used bvh_node will do since they all have the same number of frames
+	for current_frame in xrange(len(bvh_node.anim_data)):
+		Blender.Set('curframe', current_frame+IMPORT_START_FRAME)
+		
+		for bvh_node in bvh_nodes.itervalues():
+			lx,ly,lz,rx,ry,rz= bvh_node.anim_data[current_frame]
+			
+			rest_head_local= bvh_node.rest_head_local
+			bvh_node.temp.loc= rest_head_local.x+lx, rest_head_local.y+ly, rest_head_local.z+lz
+			
+			bvh_node.temp.rot= rx*DEG2RAD,ry*DEG2RAD,rz*DEG2RAD
+			
+			bvh_node.temp.insertIpoKey(Blender.Object.IpoKeyTypes.LOCROT)
+	
+	scn.update(1)
+	return objects
+
+
+
+def bvh_node_dict2armature(bvh_nodes, IMPORT_START_FRAME= 1, IMPORT_LOOP= False):
+	
+	if IMPORT_START_FRAME<1:
+		IMPORT_START_FRAME= 1
+		
+	
+	# Add the new armature, 
+	scn = bpy.data.scenes.active
+	scn.objects.selected = []
+	
+	arm_data= bpy.data.armatures.new()
+	arm_ob = scn.objects.new(arm_data)
+	scn.objects.context = [arm_ob]
+	scn.objects.active = arm_ob
+	
+	# Put us into editmode
+	arm_data.makeEditable()
+	
+	# 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.itervalues():
+		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
+	
+	
+	
+	ZERO_AREA_BONES= []
+	for name, bvh_node in bvh_nodes.iteritems():
+		# New editbone
+		bone= bvh_node.temp= Blender.Armature.Editbone()
+		
+		bone.name= name
+		arm_data.bones[name]= bone
+		
+		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:
+			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.itervalues():
+		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.options= [Blender.Armature.CONNECTED]
+	
+	# Replace the editbone with the editbone name,
+	# to avoid memory errors accessing the editbone outside editmode
+	for bvh_node in bvh_nodes.itervalues():
+		bvh_node.temp= bvh_node.temp.name
+	
+	arm_data.update()
+	
+	# Now Apply the animation to the armature
+	
+	# Get armature animation data
+	pose= arm_ob.getPose()
+	pose_bones= pose.bones
+	
+	action = Blender.Armature.NLA.NewAction("Action") 
+	action.setActive(arm_ob)
+	#xformConstants= [ Blender.Object.Pose.LOC, Blender.Object.Pose.ROT ]
+	
+	# 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.itervalues():
+		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['ARMATURESPACE'].rotationPart()
+		
+		bone_rest_matrix_inv= Matrix(bone_rest_matrix)
+		bone_rest_matrix_inv.invert()
+		
+		bone_rest_matrix_inv.resize4x4()
+		bone_rest_matrix.resize4x4()
+		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.
+	xformConstants_dict={
+	(True,True):	[Blender.Object.Pose.LOC, Blender.Object.Pose.ROT],\
+	(False,True):	[Blender.Object.Pose.ROT],\
+	(True,False):	[Blender.Object.Pose.LOC],\
+	(False,False):	[],\
+	}
+	
+	
+	# KEYFRAME METHOD, SLOW, USE IPOS DIRECT
+	
+	# Animate the data, the last used bvh_node will do since they all have the same number of frames
+	for current_frame in xrange(len(bvh_node.anim_data)-1): # skip the first frame (rest frame)
+		# print current_frame
+		
+		#if current_frame==40: # debugging
+		#	break
+		
+		# Dont neet to set the current frame
+		for bvh_node in bvh_nodes.itervalues():
+			pose_bone, bone, bone_rest_matrix, bone_rest_matrix_inv= bvh_node.temp
+			lx,ly,lz,rx,ry,rz= bvh_node.anim_data[current_frame+1]
+			
+			if bvh_node.has_rot:
+				# Set the rotation, not so simple			
+				bone_rotation_matrix= Euler(rx,ry,rz).toMatrix()
+				bone_rotation_matrix.resize4x4()
+				pose_bone.quat= (bone_rest_matrix * bone_rotation_matrix * bone_rest_matrix_inv).toQuat()
+			
+			if bvh_node.has_loc:
+				# Set the Location, simple too
+				pose_bone.loc= (\
+				TranslationMatrix(Vector(lx, ly, lz) - bvh_node.rest_head_local ) *\
+				bone_rest_matrix_inv).translationPart() # WHY * 10? - just how pose works
+			
+			# Get the transform 
+			xformConstants= xformConstants_dict[bvh_node.has_loc, bvh_node.has_rot]
+			
+			
+			if xformConstants:
+				# Insert the keyframe from the loc/quat
+				pose_bone.insertKey(arm_ob, current_frame+IMPORT_START_FRAME, xformConstants, True )
+		
+		# First time, set the IPO's to linear
+		if current_frame==0:
+			for ipo in action.getAllChannelIpos().itervalues():
+				if ipo:
+					for cur in ipo:
+						cur.interpolation = Blender.IpoCurve.InterpTypes.LINEAR
+						if IMPORT_LOOP:
+							cur.extend = Blender.IpoCurve.ExtendTypes.CYCLIC
+							
+						
+		
+		
+	# END KEYFRAME METHOD
+	
+	
+	"""
+	# IPO KEYFRAME SETTING
+	# Add in the IPOs by adding keyframes, AFAIK theres no way to add IPOs to an action so I do this :/
+	for bvh_node in bvh_nodes.itervalues():
+		pose_bone, bone, bone_rest_matrix, bone_rest_matrix_inv= bvh_node.temp
+		
+		# Get the transform 
+		xformConstants= xformConstants_dict[bvh_node.has_loc, bvh_node.has_rot]
+		if xformConstants:
+			pose_bone.loc[:]= 0,0,0
+			pose_bone.quat[:]= 0,0,1,0
+			# Insert the keyframe from the loc/quat
+			pose_bone.insertKey(arm_ob, IMPORT_START_FRAME, xformConstants)
+
+	
+	action_ipos= action.getAllChannelIpos()
+	
+	
+	for bvh_node in bvh_nodes.itervalues():
+		has_loc= bvh_node.has_loc
+		has_rot= bvh_node.has_rot
+		
+		if not has_rot and not has_loc:
+			# No animation data
+			continue
+		
+		ipo= action_ipos[bvh_node.temp[0].name] # posebones name as key
+		
+		if has_loc:
+			curve_xloc= ipo[Blender.Ipo.PO_LOCX]
+			curve_yloc= ipo[Blender.Ipo.PO_LOCY]
+			curve_zloc= ipo[Blender.Ipo.PO_LOCZ]
+			
+			curve_xloc.interpolation= \
+			curve_yloc.interpolation= \
+			curve_zloc.interpolation= \
+			Blender.IpoCurve.InterpTypes.LINEAR
+			
+		
+		if has_rot:
+			curve_wquat= ipo[Blender.Ipo.PO_QUATW]
+			curve_xquat= ipo[Blender.Ipo.PO_QUATX]
+			curve_yquat= ipo[Blender.Ipo.PO_QUATY]
+			curve_zquat= ipo[Blender.Ipo.PO_QUATZ]
+			
+			curve_wquat.interpolation= \
+			curve_xquat.interpolation= \
+			curve_yquat.interpolation= \
+			curve_zquat.interpolation= \
+			Blender.IpoCurve.InterpTypes.LINEAR
+		
+		# Get the bone 
+		pose_bone, bone, bone_rest_matrix, bone_rest_matrix_inv= bvh_node.temp
+		
+		
+		def pose_rot(anim_data):
+			bone_rotation_matrix= Euler(anim_data[3], anim_data[4], anim_data[5]).toMatrix()
+			bone_rotation_matrix.resize4x4()
+			return tuple((bone_rest_matrix * bone_rotation_matrix * bone_rest_matrix_inv).toQuat()) # qw,qx,qy,qz
+		
+		def pose_loc(anim_data):
+			return tuple((TranslationMatrix(Vector(anim_data[0], anim_data[1], anim_data[2])) * bone_rest_matrix_inv).translationPart())
+		
+		
+		last_frame= len(bvh_node.anim_data)+IMPORT_START_FRAME-1
+		
+		if has_loc:
+			pose_locations= [pose_loc(anim_key) for anim_key in bvh_node.anim_data]
+			
+			# Add the start at the end, we know the start is just 0,0,0 anyway
+			curve_xloc.append((last_frame, pose_locations[-1][0]))
+			curve_yloc.append((last_frame, pose_locations[-1][1]))
+			curve_zloc.append((last_frame, pose_locations[-1][2]))
+			
+			if len(pose_locations) > 1:
+				ox,oy,oz= pose_locations[0]
+				x,y,z= pose_locations[1]
+				
+				for i in xrange(1, len(pose_locations)-1): # from second frame to second last frame
+					
+					nx,ny,nz= pose_locations[i+1]
+					xset= yset= zset= True # we set all these by default
+					if abs((ox+nx)/2 - x) < 0.00001:	xset= False
+					if abs((oy+ny)/2 - y) < 0.00001:	yset= False
+					if abs((oz+nz)/2 - z) < 0.00001:	zset= False
+					
+					if xset: curve_xloc.append((i+IMPORT_START_FRAME, x))
+					if yset: curve_yloc.append((i+IMPORT_START_FRAME, y))
+					if zset: curve_zloc.append((i+IMPORT_START_FRAME, z))
+					
+					# Set the old and use the new
+					ox,oy,oz=	x,y,z
+					x,y,z=		nx,ny,nz
+		
+		
+		if has_rot:
+			pose_rotations= [pose_rot(anim_key) for anim_key in bvh_node.anim_data]
+			
+			# Add the start at the end, we know the start is just 0,0,0 anyway
+			curve_wquat.append((last_frame, pose_rotations[-1][0]))
+			curve_xquat.append((last_frame, pose_rotations[-1][1]))
+			curve_yquat.append((last_frame, pose_rotations[-1][2]))
+			curve_zquat.append((last_frame, pose_rotations[-1][3]))
+			
+			
+			if len(pose_rotations) > 1:
+				ow,ox,oy,oz= pose_rotations[0]
+				w,x,y,z= pose_rotations[1]
+				
+				for i in xrange(1, len(pose_rotations)-1): # from second frame to second last frame
+					
+					nw, nx,ny,nz= pose_rotations[i+1]
+					wset= xset= yset= zset= True # we set all these by default
+					if abs((ow+nw)/2 - w) < 0.00001:	wset= False
+					if abs((ox+nx)/2 - x) < 0.00001:	xset= False
+					if abs((oy+ny)/2 - y) < 0.00001:	yset= False
+					if abs((oz+nz)/2 - z) < 0.00001:	zset= False
+					
+					if wset: curve_wquat.append((i+IMPORT_START_FRAME, w))
+					if xset: curve_xquat.append((i+IMPORT_START_FRAME, x))
+					if yset: curve_yquat.append((i+IMPORT_START_FRAME, y))
+					if zset: curve_zquat.append((i+IMPORT_START_FRAME, z))
+					
+					# Set the old and use the new
+					ow,ox,oy,oz=	w,x,y,z
+					w,x,y,z=		nw,nx,ny,nz
+
+	# IPO KEYFRAME SETTING
+	"""
+	pose.update()
+	return arm_ob
+
+
+#=============#
+# TESTING     #
+#=============#
+
+#('/metavr/mocap/bvh/boxer.bvh')
+#('/d/staggered_walk.bvh')
+#('/metavr/mocap/bvh/dg-306-g.bvh') # Incompleate EOF
+#('/metavr/mocap/bvh/wa8lk.bvh') # duplicate joint names, \r line endings.
+#('/metavr/mocap/bvh/walk4.bvh') # 0 channels
+
+'''
+import os
+DIR = '/metavr/mocap/bvh/'
+for f in ('/d/staggered_walk.bvh',):
+	#for f in os.listdir(DIR)[5:6]:
+	#for f in os.listdir(DIR):
+	if f.endswith('.bvh'):
+		s = Blender.Scene.New(f)
+		s.makeCurrent()
+		#file= DIR + f
+		file= f
+		print f
+		bvh_nodes= read_bvh(file, 1.0)
+		bvh_node_dict2armature(bvh_nodes, 1)
+'''
+
+def load_bvh_ui(file, PREF_UI= True):
+	
+	if BPyMessages.Error_NoFile(file):
+		return
+	
+	Draw= Blender.Draw
+	
+	IMPORT_SCALE = Draw.Create(0.1)
+	IMPORT_START_FRAME = Draw.Create(1)
+	IMPORT_AS_ARMATURE = Draw.Create(1)
+	IMPORT_AS_EMPTIES = Draw.Create(0)
+	IMPORT_LOOP = Draw.Create(0)
+	
+	# Get USER Options
+	if PREF_UI:
+		pup_block = [\
+		('As Armature', IMPORT_AS_ARMATURE, 'Imports the BVH as an armature'),\
+		('As Empties', IMPORT_AS_EMPTIES, 'Imports the BVH as empties'),\
+		('Scale: ', IMPORT_SCALE, 0.001, 100.0, 'Scale the BVH, Use 0.01 when 1.0 is 1 metre'),\
+		('Start Frame: ', IMPORT_START_FRAME, 1, 30000, 'Frame to start BVH motion'),\
+		('Loop Animation', IMPORT_LOOP, 'Enable cyclic IPOs'),\
+		]
+		
+		if not Draw.PupBlock('BVH Import...', pup_block):
+			return
+	
+	print 'Attempting import BVH', file
+	
+	IMPORT_SCALE = IMPORT_SCALE.val
+	IMPORT_START_FRAME = IMPORT_START_FRAME.val
+	IMPORT_AS_ARMATURE = IMPORT_AS_ARMATURE.val
+	IMPORT_AS_EMPTIES = IMPORT_AS_EMPTIES.val
+	IMPORT_LOOP = IMPORT_LOOP.val
+	
+	if not IMPORT_AS_ARMATURE and not IMPORT_AS_EMPTIES:
+		Blender.Draw.PupMenu('No import option selected')
+		return
+	Blender.Window.WaitCursor(1)
+	# Get the BVH data and act on it.
+	t1= Blender.sys.time()
+	print '\tparsing bvh...',
+	bvh_nodes= read_bvh(file, IMPORT_SCALE)
+	print '%.4f' % (Blender.sys.time()-t1)
+	t1= Blender.sys.time()
+	print '\timporting to blender...',
+	if IMPORT_AS_ARMATURE:	bvh_node_dict2armature(bvh_nodes, IMPORT_START_FRAME, IMPORT_LOOP)
+	if IMPORT_AS_EMPTIES:	bvh_node_dict2objects(bvh_nodes,  IMPORT_START_FRAME, IMPORT_LOOP)
+	
+	print 'Done in %.4f\n' % (Blender.sys.time()-t1)
+	Blender.Window.WaitCursor(0)
+
+def main():
+	Blender.Window.FileSelector(load_bvh_ui, 'Import BVH', '*.bvh')
+
+if __name__ == '__main__':
+	#def foo():
+	main()
+	'''
+	scn = bpy.data.scenes.active
+	for ob in list(scn.objects):
+		if ob.name!='arm__':
+			scn.objects.unlink(ob)
+	load_bvh_ui('/test.bvh', False)
+	'''
\ No newline at end of file