def test_setPositionTarget():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
print(motion[0].skeleton)
lFoot = motion[0].skeleton.getJointIndex('LeftFoot')
oripos = motion[0].getJointPositionGlobal(lFoot)
newpos = oripos + mm.vec3(0, 1, 0)
motion_edit1 = copy.deepcopy(motion)
setPositionTarget(motion_edit1, lFoot, newpos)
motion_edit2 = copy.deepcopy(motion)
setPositionTarget(motion_edit2, lFoot, newpos, [10, 20], 5,
yfg.identity)
print(len(motion), len(motion_edit2))
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'ys_motion',
yr.JointMotionRenderer(motion, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addObject('ys_motion', motion)
viewer.doc.addRenderer(
'motion_edit1',
yr.JointMotionRenderer(motion_edit1, (0, 255, 0), yr.LINK_LINE))
viewer.doc.addObject('motion_edit1', motion_edit1)
viewer.doc.addRenderer(
'motion_edit2',
yr.JointMotionRenderer(motion_edit2, (255, 255, 0), yr.LINK_LINE))
viewer.doc.addObject('motion_edit2', motion_edit2)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def blendSegmentSmooth(motionSegment0,
motionSegment1,
attachPosition=True,
attachOrientation=True):
motionSegment1 = motionSegment1.copy()
if attachPosition:
p_offset = motionSegment0[0].rootPos - motionSegment1[0].rootPos
motionSegment1.translateByOffset(p_offset)
if attachOrientation:
R_offset = np.dot(motionSegment0[0].localRs[0],
motionSegment1[0].localRs[0].T)
R_offset = mm.exp(
mm.projectionOnVector(mm.logSO3(R_offset),
mm.vec3(0, 1, 0))) # # project on y axis
motionSegment1.rotateTrajectory(R_offset)
newMotion = ym.JointMotion([None] * (int(
(len(motionSegment0) + len(motionSegment1)) / 2.)))
# newMotion = ym.JointMotion( [None]*(int( t*len(motionSegment0) + (1-t)*len(motionSegment1)) ) )
df0 = float(len(newMotion)) / len(motionSegment0)
df1 = float(len(newMotion)) / len(motionSegment1)
for frame in range(len(newMotion)):
normalizedFrame = float(frame) / (len(newMotion) - 1)
normalizedFrame2 = yfg.H1(normalizedFrame)
normalizedFrame2 += df0 * yfg.H2(normalizedFrame)
normalizedFrame2 += df1 * yfg.H3(normalizedFrame)
posture0_at_normalizedFrame = motionSegment0.getPostureAt(
normalizedFrame2 * (len(motionSegment0) - 1))
posture1_at_normalizedFrame = motionSegment1.getPostureAt(
normalizedFrame2 * (len(motionSegment1) - 1))
newMotion[frame] = posture0_at_normalizedFrame.blendPosture(
posture1_at_normalizedFrame, normalizedFrame2)
return newMotion
def getBlendedNextMotion2(nextMotionA,
nextMotionB,
prevEndPosture,
t=None,
attachPosition=True,
attachOrientation=True):
dA = prevEndPosture - nextMotionA[0]
dB = prevEndPosture - nextMotionB[0]
newNextMotionA = nextMotionA.copy()
newNextMotionB = nextMotionB.copy()
if attachPosition:
p_offset_A = dA.rootPos
p_offset_B = dB.rootPos
# d.disableTranslation()
newNextMotionA.translateByOffset(p_offset_A)
newNextMotionB.translateByOffset(p_offset_B)
if attachOrientation:
R_offset_A = dA.getJointOrientationLocal(0)
R_offset_A = mm.exp(
mm.projectionOnVector(mm.logSO3(R_offset_A),
mm.vec3(0, 1, 0))) # # project on y axis
R_offset_B = dA.getJointOrientationLocal(0)
R_offset_B = mm.exp(
mm.projectionOnVector(mm.logSO3(R_offset_B),
mm.vec3(0, 1, 0))) # # project on y axis
# d.disableRotations([0])
newNextMotionA.rotateTrajectory(R_offset_A)
newNextMotionB.rotateTrajectory(R_offset_B)
if t is None:
blendedNextMotion = blendSegmentSmooth(newNextMotionA, newNextMotionB)
else:
blendedNextMotion = blendSegmentFixed(newNextMotionA, newNextMotionB,
t)
# del blendedNextMotion[0]
return blendedNextMotion
def test_FramesRenderer_OrientationsRenderer():
frame0 = mm.i_se3()
frame1 = mm.r_p_to_t(mm.exp(mm.vec3(0, 1, 0), math.pi / 8.), (1, 0, 0))
viewer = ysv.SimpleViewer()
viewer.doc.addRenderer('frame0', FramesRenderer([frame0], (255, 0, 0)))
viewer.doc.addRenderer('frame1', FramesRenderer([frame1], (255, 0, 0)))
viewer.doc.addRenderer(
'orientation0',
OrientationsRenderer([mm.t_to_r(frame0)], [mm.t_to_p(frame0)],
(0, 255, 0)))
viewer.doc.addRenderer(
'orientation1',
OrientationsRenderer([mm.t_to_r(frame1)], [mm.t_to_p(frame1)],
(0, 255, 0)))
viewer.show()
Fl.run()
node = mcfg.getNode('Spine')
node.width = .22
node = mcfg.getNode('RightFoot')
node.length = .25
node = mcfg.getNode('LeftFoot')
node.length = .25
return mcfg
g_motionDirConfigMap = {}
g_motionDirConfigMap['../../../Data/woody2/Motion/Physics2/'] = \
{'footRot': mm.exp(mm.vec3(1,0,0), -.4), 'yOffset': .0, 'scale':1.,'rootRot': mm.i_so3()}
g_motionDirConfigMap['../../../Data/woody2/Motion/Balancing/'] = \
{'footRot': mm.exp(mm.vec3(1,-.5,0), -.6), 'yOffset': .0, 'scale':1.,'rootRot': mm.exp(mm.vec3(1,0,0), .01)}
g_motionDirConfigMap['../../../Data/woody2/Motion/Picking/'] = \
{'footRot': mm.exp(mm.vec3(1,0,0), -.5), 'yOffset': .0, 'scale':1.,'rootRot': mm.i_so3()}
g_motionDirConfigMap['../../../Data/woody2/Motion/Samsung/'] = \
{'footRot': mm.rotX(-.5), 'yOffset': .0, 'scale':2.53999905501,'rootRot': mm.i_so3()}
g_motionDirConfigMap['../../../Data/woody2/Motion/VideoMotion/'] = \
{'footRot': mm.exp(mm.vec3(1,0,0), -.05), 'yOffset': .01, 'scale':2.53999905501,'rootRot': mm.exp(mm.vec3(1,0,0), .0)}
if __name__=='__main__':
#===============================================================================
# initialize motion
#===============================================================================
motionFiles = []
hRef = .1
vRef = .5
clHeel = yma.getElementContactStates(motion, LFOOT, hRef, vRef)
crHeel = yma.getElementContactStates(motion, RFOOT, hRef, vRef)
clToe = yma.getElementContactStates(motion, LTOE, hRef, vRef)
crToe = yma.getElementContactStates(motion, RTOE, hRef, vRef)
clFoot = list(map(op.or_, clHeel, clToe))
crFoot = list(map(op.or_, crHeel, crToe))
lFootStates = yma.getFootStates(clHeel, clToe)
rFootStates = yma.getFootStates(crHeel, crToe)
lIntervals, lStates = yma.states2intervals(lFootStates)
rIntervals, rStates = yma.states2intervals(rFootStates)
footNames = [LFOOT, RFOOT]
horizontalDirection = mm.vec3(-1, 0, 0)
horizontalRight = np.cross(horizontalDirection, (0, 1, 0))
horizontalLeft = -horizontalRight
sagittalAxis = horizontalRight
lateralAxisMap = {LFOOT: horizontalDirection, RFOOT: -horizontalDirection}
size_sagittals_map = {
LFOOT: [None] * len(motion),
RFOOT: [None] * len(motion)
}
size_laterals_map = {
LFOOT: [None] * len(motion),
RFOOT: [None] * len(motion)
}
for i in range(len(motion)):