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Diffstat (limited to 'release/scripts/bvh_import.py')
| -rw-r--r-- | release/scripts/bvh_import.py | 442 |
1 files changed, 442 insertions, 0 deletions
diff --git a/release/scripts/bvh_import.py b/release/scripts/bvh_import.py new file mode 100644 index 00000000000..c677906f79e --- /dev/null +++ b/release/scripts/bvh_import.py @@ -0,0 +1,442 @@ +#!BPY + +""" +Name: 'Motion Capture (*.bvh)' +Blender: 232 +Group: 'Import' +Tip: 'Import a (*.bvh) motion capture file' +""" + +#===============================================# +# BVH Import script 1.0 by Campbell Barton # +# 25/03/2004, euler rotation code taken from # +# Reevan Mckay's BVH import script v1.1 # +# if you have any questions about this script # +# email me ideasman@linuxmail.org # +#===============================================# + +#===============================================# +# TODO: # +# * Create bones when importing # +# * Make an IPO jitter removal script # +# * Work out a better naming system # +#===============================================# + +# -------------------------------------------------------------------------- +# BVH Import v0.9 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 string +import math +import Blender +from Blender import Window, Object, Scene, Ipo +from Blender.Scene import Render + + +# # PSYCO IS CRASHING ON MY SYSTEM +# # Attempt to load psyco, speed things up +# try: +# print 'using psyco to speed up BVH importing' +# import psyco +# psyco.full() +# +# except: +# print 'psyco is not present on this system' + + +# Update as we load? +debug = 0 + +# Global scale facctor # sHOULD BE 1 BY DEFAULT +scale = 1 + +# Get the current scene. +scn = Scene.GetCurrent() +context = scn.getRenderingContext() + +# Here we store the Ipo curves in the order they load. +channelCurves = [] + +# Object list +# We need this so we can loop through the objects and edit there IPO's +# Chenging there rotation to EULER rotation +objectList = [] + +def MAT(m): + if len(m) == 3: + return Blender.Mathutils.Matrix(m[0], m[1], m[2]) + elif len(m) == 4: + return Blender.Mathutils.Matrix(m[0], m[1], m[2], m[3]) + + + +#===============================================# +# eulerRotation: converts X, Y, Z rotation # +# to eular Rotation. This entire function # +# is copied from Reevan Mckay's BVH script # +#===============================================# +# Vars used in eular rotation funtcion +DEG_TO_RAD = math.pi/180.0 +RAD_TO_DEG = 180.0/math.pi +PI=3.14159 + +def eulerRotate(x,y,z): + #================================= + def RVMatMult3 (mat1,mat2): + #================================= + mat3=[[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0]] + for i in range(3): + for k in range(3): + for j in range(3): + mat3[i][k]=mat3[i][k]+mat1[i][j]*mat2[j][k] + mat1 = mat2 = i = k = j = None # Save memory + return mat3 + + + #================================= + def RVAxisAngleToMat3 (rot4): + # Takes a direction vector and + # a rotation (in rads) and + # returns the rotation matrix. + # Graphics Gems I p. 466: + #================================= + mat3=[[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0]] + if math.fabs(rot4[3])>0.01: + s=math.sin(rot4[3]) + c=math.cos(rot4[3]) + t=1.0-math.cos(rot4[3]) + else: + s=rot4[3] + c=1.0 + t=0.0 + + x=rot4[0]; y=rot4[1]; z=rot4[2] + + mat3[0][0]=t*x*x+c + mat3[0][1]=t*x*y+s*z + mat3[0][2]=t*x*z-s*y + + mat3[1][0]=t*x*y-s*z + mat3[1][1]=t*y*y+c + mat3[1][2]=t*y*z+s*x + + mat3[2][0]=t*x*z+s*y + mat3[2][1]=t*y*z-s*x + mat3[2][2]=t*z*z+c + + rot4 = s = c = t = x = y = z = None # Save some memory + return mat3 + + eul = [x,y,z] + + for jj in range(3): + while eul[jj] < 0: + eul[jj] = eul[jj] + 360.0 + while eul[jj] >= 360.0: + eul[jj] = eul[jj] - 360.0 + + eul[0] = eul[0]*DEG_TO_RAD + eul[1] = eul[1]*DEG_TO_RAD + eul[2] = eul[2]*DEG_TO_RAD + + xmat=RVAxisAngleToMat3([1,0,0,eul[0]]) + ymat=RVAxisAngleToMat3([0,1,0,eul[1]]) + zmat=RVAxisAngleToMat3([0,0,1,eul[2]]) + + mat=[[1.0,0.0,0.0],[0.0,1.0,0.0],[0.0,0.0,1.0]] + + # Standard BVH multiplication order + mat=RVMatMult3 (zmat,mat) + mat=RVMatMult3 (xmat,mat) + mat=RVMatMult3 (ymat,mat) + + + ''' + # Screwy Animation Master BVH multiplcation order + mat=RVMatMult3 (ymat,mat) + mat=RVMatMult3 (xmat,mat) + mat=RVMatMult3 (zmat,mat) + ''' + mat = MAT(mat) + + eul = mat.toEuler() + x =- eul[0]/-10 + y =- eul[1]/-10 + z =- eul[2]/-10 + + + eul = mat = zmat = xmat = ymat = jj = None + return x, y, z # Returm euler roration values. + + + +#===============================================# +# makeJoint: Here we use the node data # +# from the BVA file to create an empty # +#===============================================# +def makeJoint(name, parent, prefix, offset, channels): + # Make Empty, with the prefix in front of the name + ob = Object.New('Empty', prefix + name) # New object, ob is shorter and nicer to use. + scn.link(ob) # place the object in the current scene + + # Offset Empty + ob.setLocation(offset[0]*scale, offset[1]*scale, offset[2]*scale) + + # Make me a child of another empty. + # Vale of None will make the empty a root node (no parent) + if parent[-1] != None: + obParent = Object.Get(prefix + parent[-1]) # We use this a bit so refrence it here. + obParent.makeParent([ob], 0, 1) #ojbs, noninverse, 1 = not fast. + + # Add Ipo's for necessary channels + newIpo = Ipo.New('Object', prefix + name) + ob.setIpo(newIpo) + for channelType in channels: + if channelType == 'Xposition': + newIpo.addCurve('LocX') + newIpo.getCurve('LocX').setInterpolation('Linear') + if channelType == 'Yposition': + newIpo.addCurve('LocY') + newIpo.getCurve('LocY').setInterpolation('Linear') + if channelType == 'Zposition': + newIpo.addCurve('LocZ') + newIpo.getCurve('LocZ').setInterpolation('Linear') + + if channelType == 'Zrotation': + newIpo.addCurve('RotZ') + newIpo.getCurve('RotZ').setInterpolation('Linear') + if channelType == 'Yrotation': + newIpo.addCurve('RotY') + newIpo.getCurve('RotY').setInterpolation('Linear') + if channelType == 'Xrotation': + newIpo.addCurve('RotX') + newIpo.getCurve('RotX').setInterpolation('Linear') + + # Add to object list + objectList.append(ob) + + ob = newIpo = opParent = None + + # Redraw if debugging + if debug: Blender.Redraw() + + +#===============================================# +# makeEnd: Here we make an end node # +# This is needed when adding the last bone # +#===============================================# +def makeEnd(parent, prefix, offset): + # Make Empty, with the prefix in front of the name, end nodes have no name so call it its parents name+'_end' + ob = Object.New('Empty', prefix + parent[-1] + '_end') # New object, ob is shorter and nicer to use. + scn.link(ob) + + # Dont check for a parent, an end node MUST have a parent + obParent = Object.Get(prefix + parent[-1]) # We use this a bit so refrence it here. + obParent.makeParent([ob], 0, 1) #ojbs, noninverse, 1 = not fast. + + # Offset Empty + ob.setLocation(offset[0]*scale, offset[1]*scale, offset[2]*scale) + + # Redraw if debugging + if debug: Blender.Redraw() + + + +#===============================================# +# MAIN FUNCTION - All things are done from here # +#===============================================# +def loadBVH(filename): + print '' + print 'BVH Importer 1.0 by Campbell Barton (Ideasman) - ideasman@linuxmail.org' + + # File loading stuff + # Open the file for importing + file = open(filename, 'r') + fileData = file.readlines() + # Make a list of lines + lines = [] + for fileLine in fileData: + newLine = string.split(fileLine) + if newLine != []: + lines.append(string.split(fileLine)) + fileData = None + # End file loading code + + # Call object names with this prefix, mainly for scenes with multiple BVH's - Can imagine most partr names are the same + # So in future + #prefix = str(len(lines)) + '_' + + prefix = '_' + + # Create Hirachy as empties + if lines[0][0] == 'HIERARCHY': + print 'Importing the BVH Hierarchy for:', filename + else: + return 'ERROR: This is not a BVH file' + + # A liniar list of ancestors to keep track of a single objects heratage + # at any one time, this is appended and removed, dosent store tree- just a liniar list. + # ZERO is a place holder that means we are a root node. (no parents) + parent = [None] + + #channelList [(<objectName>, [channelType1, channelType2...]), (<objectName>, [channelType1, channelType2...)] + channelList = [] + channelIndex = -1 + + lineIdx = 1 # An index for the file. + while lineIdx < len(lines) -1: + #... + if lines[lineIdx][0] == 'ROOT' or lines[lineIdx][0] == 'JOINT': + # MAY NEED TO SUPPORT MULTIPLE ROOT's HERE!!!, Still unsure weather multiple roots are possible.?? + + print len(parent) * ' ' + 'node:',lines[lineIdx][1],' parent:',parent[-1] + + name = lines[lineIdx][1] + lineIdx += 2 # Incriment to the next line (Offset) + offset = ( eval(lines[lineIdx][1]), eval(lines[lineIdx][2]), eval(lines[lineIdx][3]) ) + lineIdx += 1 # Incriment to the next line (Channels) + + # newChannel[Xposition, Yposition, Zposition, Xrotation, Yrotation, Zrotation] + # newChannel has Indecies to the motiondata, + # -1 refers to the last value that will be added on loading at a value of zero + # We'll add a zero value onto the end of the MotionDATA so this is always refers to a value. + newChannel = [-1, -1, -1, -1, -1, -1] + for channel in lines[lineIdx][2:]: + channelIndex += 1 # So the index points to the right channel + if channel == 'Xposition': + newChannel[0] = channelIndex + elif channel == 'Yposition': + newChannel[1] = channelIndex + elif channel == 'Zposition': + newChannel[2] = channelIndex + elif channel == 'Xrotation': + newChannel[3] = channelIndex + elif channel == 'Yrotation': + newChannel[4] = channelIndex + elif channel == 'Zrotation': + newChannel[5] = channelIndex + + channelList.append(newChannel) + + channels = lines[lineIdx][2:] + + # Call funtion that uses the gatrhered data to make an empty. + makeJoint(name, parent, prefix, offset, channels) + + # If we have another child then we can call ourselves a parent, else + parent.append(name) + + # Account for an end node + if lines[lineIdx][0] == 'End' and lines[lineIdx][1] == 'Site': # There is somtimes a name afetr 'End Site' but we will ignore it. + lineIdx += 2 # Incriment to the next line (Offset) + offset = ( eval(lines[lineIdx][1]), eval(lines[lineIdx][2]), eval(lines[lineIdx][3]) ) + makeEnd(parent, prefix, offset) + + # Just so we can remove the Parents in a uniform way- End end never has kids + # so this is a placeholder + parent.append(None) + + if lines[lineIdx] == ['}']: + parent = parent[:-1] # Remove the last item + + + #=============================================# + # BVH Structure loaded, Now import motion # + #=============================================# + if lines[lineIdx] == ['MOTION']: + print '\nImporting motion data' + lineIdx += 3 # Set the cursor to the forst frame + + #=============================================# + # Loop through frames, each line a frame # + #=============================================# + currentFrame = 1 + print 'frames: ', + + + #=============================================# + # Add a ZERO keyframe, this keeps the rig # + # so when we export we know where all the # + # joints start from # + #=============================================# + obIdx = 0 + while obIdx < len(objectList) -1: + if channelList[obIdx][0] != -1: + objectList[obIdx].getIpo().getCurve('LocX').addBezier((currentFrame,0)) + if channelList[obIdx][1] != -1: + objectList[obIdx].getIpo().getCurve('LocY').addBezier((currentFrame,0)) + if channelList[obIdx][2] != -1: + objectList[obIdx].getIpo().getCurve('LocZ').addBezier((currentFrame,0)) + if channelList[obIdx][3] != '-1' or channelList[obIdx][4] != '-1' or channelList[obIdx][5] != '-1': + objectList[obIdx].getIpo().getCurve('RotX').addBezier((currentFrame,0)) + objectList[obIdx].getIpo().getCurve('RotY').addBezier((currentFrame,0)) + objectList[obIdx].getIpo().getCurve('RotZ').addBezier((currentFrame,0)) + obIdx += 1 + + while lineIdx < len(lines): + + # Exit loop if we are past the motiondata. + # Some BVH's have extra tags like 'CONSTRAINTS and MOTIONTAGS' + # I dont know what they do and I dont care, they'll be ignored here. + if len(lines[lineIdx]) < len(objectList): + print '...ending on unknown tags' + break + + + currentFrame += 1 # Incriment to next frame + + #=============================================# + # Import motion data and assign it to an IPO # + #=============================================# + lines[lineIdx].append('0') # Use this as a dummy var for objects that dont have a rotate channel. + obIdx = 0 + if debug: Blender.Redraw() + while obIdx < len(objectList) -1: + if channelList[obIdx][0] != -1: + objectList[obIdx].getIpo().getCurve('LocX').addBezier((currentFrame, scale * eval(lines[lineIdx][channelList[obIdx][0]]))) + if channelList[obIdx][1] != -1: + objectList[obIdx].getIpo().getCurve('LocY').addBezier((currentFrame, scale * eval(lines[lineIdx][channelList[obIdx][1]]))) + if channelList[obIdx][2] != -1: + objectList[obIdx].getIpo().getCurve('LocZ').addBezier((currentFrame, scale * eval(lines[lineIdx][channelList[obIdx][2]]))) + + if channelList[obIdx][3] != '-1' or channelList[obIdx][4] != '-1' or channelList[obIdx][5] != '-1': + x, y, z = eulerRotate(eval(lines[lineIdx][channelList[obIdx][3]]), eval(lines[lineIdx][channelList[obIdx][4]]), eval(lines[lineIdx][channelList[obIdx][5]])) + objectList[obIdx].getIpo().getCurve('RotX').addBezier((currentFrame, x)) + objectList[obIdx].getIpo().getCurve('RotY').addBezier((currentFrame, y)) + objectList[obIdx].getIpo().getCurve('RotZ').addBezier((currentFrame, z)) + obIdx += 1 + # Done importing motion data # + + lines[lineIdx] = None # Scrap old motion data, save some memory? + lineIdx += 1 + # We have finished now + print currentFrame, 'done.' + + # No point in looking further, when this loop is done + # There is nothine else left to do + print 'Imported ', currentFrame, ' frames' + break + + # Main file loop + lineIdx += 1 + +Blender.Window.FileSelector(loadBVH)
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