def test_mergePoints():
meshFilePath = '../samples/physics2_woody_binding1.mesh.xml'
skinMesh, jointMotions = yol.readOgreDataFiles(meshFilePath, .1)
mergedSkinMesh = copy.deepcopy(skinMesh)
mergePoints(mergedSkinMesh)
# print skinMesh
# print mergedSkinMesh
viewer = ysv.SimpleViewer()
viewer.record(False)
for i in range(len(jointMotions)):
viewer.doc.addRenderer(jointMotions[i].resourceName, yr.JointMotionRenderer(jointMotions[i], (0, 0, 255), yr.LINK_LINE))
viewer.doc.addMotion2(jointMotions[i].resourceName, jointMotions[i])
viewer.doc.addRenderer('skinMesh', yr.MeshRenderer(skinMesh))
viewer.doc.addObject('skinMesh', skinMesh)
viewer.doc.addRenderer('mergedSkinMesh', yr.MeshRenderer(mergedSkinMesh, (0,255,0)))
viewer.doc.addObject('mergedSkinMesh', mergedSkinMesh)
def preFrameCallback(frame):
skinMesh.update(jointMotions[0][frame])
mergedSkinMesh.update(jointMotions[0][frame])
viewer.setPreFrameCallback(preFrameCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_ObjectInfoWnd():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
jointMotion1, frameTime = yf.readBvhFileAsJointMotion(bvhFilePath, .01)
bvhFilePath = '../samples/wd2_WalkForwardVFast00.bvh'
jointMotion2, frameTime = yf.readBvhFileAsJointMotion(bvhFilePath, .01)
meshFilePath = '../samples/physics2_woody_binding1.mesh.xml'
skinMesh, js = yol.readOgreDataFiles(meshFilePath, .01)
meshFilePath = '../samples/physics2_woody_binding1.mesh.xml'
mesh = yol.readOgreMeshFileAsMesh(meshFilePath, .01)
ysu.mergePoints(skinMesh)
ysu.mergePoints(mesh)
skinMesh.update(js[0][80])
viewer = SimpleViewer()
viewer.doc.addRenderer('motion1(%s)'%jointMotion1.resourceName, yr.JointMotionRenderer(jointMotion1, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addObject('motion1(%s)'%jointMotion1.resourceName, jointMotion1)
viewer.doc.addRenderer('motion2(%s)'%jointMotion2.resourceName, yr.JointMotionRenderer(jointMotion2, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addObject('motion2(%s)'%jointMotion1.resourceName, jointMotion2)
viewer.doc.addRenderer('skinMesh', yr.MeshRenderer(skinMesh))
viewer.doc.addObject('skinMesh', skinMesh)
viewer.doc.addRenderer('mesh', yr.MeshRenderer(mesh))
viewer.doc.addObject('mesh', mesh)
viewer.startTimer(frameTime)
viewer.show()
Fl.run()
def test_readOgreDataFiles():
meshFilePath = '../samples/physics2_woody_binding1.mesh.xml'
skeletonFilePath = '../samples/physics2_woody_binding1.skeleton.xml'
skinMesh, jointMotions = readOgreDataFiles(meshFilePath, .01,
skeletonFilePath)
for jointPosture in jointMotions[0]:
jointPosture.updateGlobalT()
viewer = ysv.SimpleViewer()
for i in range(len(jointMotions)):
viewer.doc.addObject('motion%d' % i, jointMotions[i])
viewer.doc.addRenderer(
'motion%d' % i,
yr.JointMotionRenderer(jointMotions[i], (0, 0, 255),
yr.LINK_LINE))
viewer.doc.addRenderer('skinMesh', yr.MeshRenderer(skinMesh))
def preFrameCallback(frame):
skinMesh.update(jointMotions[0][frame])
viewer.setPreFrameCallback(preFrameCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_readOgreMeshFileAsSkinMesh():
skeletonFilePath = '../samples/woody2_15.skeleton.xml'
# jointSkeleton, initialRMap = readOgreSkeletonFile_Skeleton(skeletonFilePath, .1)
# jointMotions = readOgreSkeletonFile_SkeletonAnimations(skeletonFilePath, .1)
jointSkeleton, initialRs, jointMotions = readOgreSkeletonFile(
skeletonFilePath, .01)
meshFilePath = '../samples/woody2_15.mesh.xml'
skinMesh = readOgreMeshFileAsSkinMesh(meshFilePath, jointSkeleton,
initialRs, .01)
jointMotion = yf.readBvhFile('../samples/wd2_WalkSameSame00.bvh', .01)
viewer = ysv.SimpleViewer()
# for i in range(len(jointMotions)):
# viewer.doc.addMotion(jointMotions[i])
# viewer.doc.addRenderer(jointMotions[i].resourceName, yr.JointMotionRenderer(jointMotions[i], (0, 0, 255), yr.LINK_LINE))
viewer.doc.addRenderer(
'jointMotion',
yr.JointMotionRenderer(jointMotion, (0, 0, 255), yr.LINK_BONE))
viewer.doc.addObject('jointMotion', jointMotion)
viewer.doc.addRenderer('skinMesh', yr.MeshRenderer(skinMesh))
def preFrameCallback(frame):
skinMesh.update(jointMotion[frame])
viewer.setPreFrameCallback(preFrameCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_readOgreSkeletonFile_SkeletonAnimation():
meshFilePath = '../samples/physics2_woody_binding1.mesh.xml'
mesh = readOgreMeshFileAsMesh(meshFilePath, .01)
# skeletonFilePath = '../samples/woody2_15.skeleton.xml'
skeletonFilePath = '../samples/physics2_woody_binding1.skeleton.xml'
jointMotions = readOgreSkeletonFile_SkeletonAnimations(
skeletonFilePath, .01)
viewer = ysv.SimpleViewer()
for i in range(len(jointMotions)):
viewer.doc.addMotion(jointMotions[i])
viewer.doc.addRenderer(
jointMotions[i].resourceName,
yr.JointMotionRenderer(jointMotions[i], (0, 0, 255),
yr.LINK_LINE))
viewer.doc.addRenderer('mesh', yr.MeshRenderer(mesh))
def extraDrawCallback():
frame = viewer.getCurrentFrame()
for i in range(jointMotions[0][0].skeleton.getElementNum()):
ygh.drawPoint(jointMotions[0][frame].getPosition(i))
viewer.setExtraDrawCallback(extraDrawCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_readOgreSkeletonFile_Skeleton():
# meshFilePath = '../samples/woody2_15.mesh.xml'
meshFilePath = '../samples/physics2_woody_binding1.mesh.xml'
mesh = readOgreMeshFileAsMesh(meshFilePath, .01)
# skeletonFilePath = '../samples/woody2_15.skeleton.xml'
skeletonFilePath = '../samples/physics2_woody_binding1.skeleton.xml'
jointSkeleton, initialRs = readOgreSkeletonFile_Skeleton(
skeletonFilePath, .01)
skeletonPosture = ym.JointPosture(jointSkeleton)
skeletonPosture.initLocalRs(initialRs)
# skeletonPosture.initLocalRs()
skeletonMotion = ym.Motion([skeletonPosture])
viewer = ysv.SimpleViewer()
viewer.doc.addMotion(skeletonMotion)
viewer.doc.addRenderer(
'skeleton',
yr.JointMotionRenderer(skeletonMotion, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addRenderer('mesh', yr.MeshRenderer(mesh))
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_readOgreMeshFileAsMesh():
meshFilePath = '../samples/woody2_15.mesh.xml'
mesh = readOgreMeshFileAsMesh(meshFilePath, .01)
viewer = ysv.SimpleViewer()
viewer.doc.addRenderer('mesh', yr.MeshRenderer(mesh))
viewer.doc.addObject('mesh', mesh)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_compare_skeletonanimation_vs_bvhmotion():
meshFilePath = '../samples/physics2_woody_binding1.mesh.xml'
skeletonFilePath = '../samples/physics2_woody_binding1.skeleton.xml'
skeletonMesh, skeletonMotions = readOgreDataFiles(
meshFilePath, .01, skeletonFilePath)
skeletonMotion = skeletonMotions[0]
ysu.mergePoints(skeletonMesh)
bvhMotion = yf.readBvhFile('../samples/wd2_WalkSameSame00.bvh', .01)
bvhMesh = copy.deepcopy(skeletonMesh)
# bvhMesh.initialize(bvhMotion[0])
viewer = ysv.SimpleViewer()
viewer.doc.addRenderer(
'skeletonMotion',
yr.JointMotionRenderer(skeletonMotion, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addMotion2('skeletonMotion', skeletonMotion)
viewer.doc.addRenderer(
'skeletonMesh',
yr.MeshRenderer(skeletonMesh, (255 * .5, 255 * .5, 255)))
viewer.doc.addRenderer(
'bvhMotion',
yr.JointMotionRenderer(bvhMotion, (0, 255, 0), yr.LINK_LINE))
viewer.doc.addMotion2('bvhMotion', bvhMotion)
viewer.doc.addRenderer(
'bvhMesh', yr.MeshRenderer(bvhMesh, (255 * .5, 255, 255 * .5)))
def preFrameCallback(frame):
if frame < len(skeletonMotion):
skeletonMesh.update(skeletonMotion[frame])
if frame < len(bvhMotion):
bvhMesh.update(bvhMotion[frame])
viewer.setPreFrameCallback(preFrameCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_IMSModel_mesh():
frameTime = 1 / 30.
stepsPerFrame = 10
timeStep = frameTime / stepsPerFrame
print 'time step', timeStep
mesh, t = yol.readOgreDataFiles('../samples/woody2_15.mesh.xml', .01, None)
motion, frameTime = yf.readBvhFileAsJointMotion(
'../samples/wd2_WalkSameSame00.bvh', .01)
mesh.update(motion[0])
dynamicMu = .5
staticMu = 1.
particleConfigs = yiu.getParticleConfigsFromMesh(mesh, massMap, motion[:2],
dynamicMu, staticMu)
Ks = 10000.
Kd = 100.
springConfigs = yiu.getSpringConfigsFromMesh(mesh, Ks, Kd)
systemConfig = cmm.SystemConfig()
model = cmm.IMSModel(particleConfigs, springConfigs, systemConfig)
viewer = ysv.SimpleViewer()
# viewer.record(False)
viewer.doc.addRenderer('mesh', yr.MeshRenderer(mesh, (50, 100, 150)))
viewer.doc.addObject('mesh', mesh)
viewer.doc.addRenderer(
'motion', yr.JointMotionRenderer(motion, (0, 255, 255), yr.LINK_BONE))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('model', cr.IMSModelRenderer(model))
# viewer.setRecSimulObjs([model])
def preFrameCallback(frame):
mesh.update(motion[frame])
def simulateCallback(frame):
model.updateSprings(yiu.getSpringLengthsFromMesh(mesh, springConfigs))
for i in range(int(stepsPerFrame)):
model.step(timeStep)
viewer.setPreFrameCallback(preFrameCallback)
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_getCOMPos_Vel():
meshFilePath = '../samples/woody2_15.mesh.xml'
skeletonFilePath = '../samples/woody2_15.skeleton.xml'
mesh, js = yol.readOgreDataFiles(meshFilePath, .01, skeletonFilePath)
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
motion = yf.readBvhFile(bvhFilePath, .01)
meshMotion = meshAnimation2PointMotion(mesh, motion)
vertexMasses = getDistributedVertexMasses(mesh, massMap)
upperIndices = getSubmeshVertexIndicesEx(mesh, 'UPPER')
totalMass = getTotalMass(vertexMasses)
upperMass = getTotalMass(vertexMasses, upperIndices)
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('mesh', yr.MeshRenderer(mesh))
viewer.doc.addObject('mesh', mesh)
viewer.doc.addRenderer('meshMotion', yr.PointMotionRenderer(meshMotion))
viewer.doc.addObject('meshMotion', meshMotion)
def extraDrawCallback():
frame = viewer.getCurrentFrame()
positions = meshMotion[frame].getPositions()
COM = getCOMPos(positions, vertexMasses, totalMass)
upperCOM = getCOMPos(positions, vertexMasses, upperMass, upperIndices)
if frame > 0:
velocities = meshMotion.getVelocities(frame)
ygh.drawVector(getCOMVel(velocities, vertexMasses, totalMass), COM, (255,255,0))
ygh.drawVector(getCOMVel(velocities, vertexMasses, upperMass, upperIndices), upperCOM, (0,255,0))
viewer.setExtraDrawCallback(extraDrawCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_mesh2PointPosture():
meshFilePath = '../samples/woody2_15.mesh.xml'
skeletonFilePath = '../samples/woody2_15.skeleton.xml'
skinMesh, js = yol.readOgreDataFiles(meshFilePath, .01, skeletonFilePath)
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
jointMotion = yf.readBvhFile(bvhFilePath, .01)
meshPointMotion = meshAnimation2PointMotion(skinMesh, jointMotion)
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('skinMesh', yr.MeshRenderer(skinMesh))
viewer.doc.addObject('skinMesh', skinMesh)
viewer.doc.addRenderer('meshPointMotion', yr.PointMotionRenderer(meshPointMotion))
viewer.doc.addObject('meshPointMotion', meshPointMotion)
def preFrameCallback(frame):
skinMesh.update(jointMotion[frame])
viewer.setPreFrameCallback(preFrameCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
def test_submesh():
meshFilePath = '../samples/woody2_4.mesh.xml'
mesh = yol.readOgreMeshFileAsMesh(meshFilePath, .01)
print(mesh)
print(mesh.getSubmeshFaceIndices('woody2_14_FOOT1'))
print(mesh.getSubmeshVertexIndices('woody2_14_FOOT1'))
print(mesh.getSubmeshVertexPositions('woody2_14_FOOT1'))
positions = mesh.getSubmeshVertexPositions('woody2_14_FOOT1')
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('mesh', yr.MeshRenderer(mesh, (127,127,127)))
viewer.doc.addObject('mesh', mesh)
def extraDrawCallback():
for p in positions:
ygh.drawPoint(p)
viewer.setExtraDrawCallback(extraDrawCallback)
viewer.startTimer(1/30.)
viewer.show()
Fl.run()
# motion, f = yf.readBvhFileAsJointMotion('Data/wd2_WalkAzuma00.bvh', .01)
# motion, f = yf.readBvhFileAsJointMotion('Data/wd2_WalkSoldier00.bvh', .01)
# motion, f = yf.readBvhFileAsJointMotion('Data/wd2_WalkLean00.bvh', .01)
# motion, f = yf.readBvhFileAsJointMotion('Data/wd2_WalkSukiko00.bvh', .01)
# motion, f = yf.readBvhFileAsJointMotion('Data/wd2_2foot_walk_turn2.bvh', .01)
# motion, f = yf.readBvhFileAsJointMotion('Data/wd2_2foot_walk_turn.bvh', .01)
motion = yf.readBvhFile('../samples/wd2_WalkSameSame00.bvh', .01)
meshMotion = ysu.meshAnimation2PointMotion(mesh, motion)
vertexMasses = ysu.getDistributedVertexMasses(mesh, massMap)
upperVertexIndices, upperMass = ysu.getUpperInfo(mesh, vertexMasses)
totalMass = ysu.getTotalMass(vertexMasses)
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('mesh', yr.MeshRenderer(mesh))
viewer.doc.addObject('mesh', mesh)
viewer.doc.addRenderer('meshMotion', yr.PointMotionRenderer(meshMotion))
viewer.doc.addObject('meshMotion', meshMotion)
def preFrameCallback(frame):
mesh.update(motion[frame])
def extraDrawCallback():
frame = viewer.getCurrentFrame()
meshPositions = meshMotion[frame].getPointPositions()
ygh.drawPoint(
ysu.getUpperCOMPos(meshPositions, vertexMasses, upperVertexIndices,
upperMass))
ygh.drawPoint(ysu.getCOMPos(meshPositions, vertexMasses, totalMass),
(255, 255, 0))
import Resource.ysOgreDataLoader as yol
if __name__ == "__main__":
mesh, motions = yol.readOgreDataFiles('../samples/woody2_15.mesh.xml', .01,
None)
# mesh2, motions= yol.readOgreDataFiles('Data/woody2_6.mesh.xml', .01, None)
# ysu.mergePoints(mesh)
print mesh
motion = yf.readBvhFile('../samples/wd2_WalkSameSame00.bvh', .01)
# motion, frameTime = yf.readBvhFile('../samples/wd2_left_turn.bvh', .01*2.53999905501)
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer('mesh', yr.MeshRenderer(mesh, (0, 255, 255)))
viewer.doc.addObject('mesh', mesh)
# viewer.doc.addRenderer('mesh2', yr.MeshRenderer(mesh2, (255,255,0)))
# viewer.doc.addObject('mesh2', mesh2)
viewer.doc.addRenderer(
'motion', yr.JointMotionRenderer(motion, (127, 127, 255),
yr.LINK_BONE))
viewer.doc.addObject('motion', motion)
def preFrameCallback(frame):
mesh.update(motion[frame])
# mesh2.update(motion[frame])
viewer.setPreFrameCallback(preFrameCallback)
def main():
# mesh = yol.readOgreMeshFileAsMesh('Data/box_rotate.mesh.xml', .1)
# mesh = yol.readOgreMeshFileAsMesh('Data/box.mesh.xml', .1)
# mesh = yol.readOgreMeshFileAsMesh('Data/foot_box.mesh.xml', .1)
# mesh = yol.readOgreMeshFileAsMesh('Data/woody2_4.mesh.xml', .01)
mesh, motions = yol.readOgreDataFiles('Data/woody2_7.mesh.xml', .01, None)
ysu.mergePoints(mesh)
print 'MESH'
print mesh
motion, frameTime = yf.readBvhFileAsJointMotion(
'Data/wd2_WalkSameSame00.bvh', .01)
motion = motion[:100]
mesh.update(motion[0])
config = {}
config['meshKs'] = 10000.
config['meshKd'] = 500.
config['muscleKs'] = 10000.
config['muscleKd'] = 500.
config['footKs'] = 10000.
config['footKd'] = 500.
# config['2D'] = True
config['vertexMasses'] = [1.] * len(mesh.vertices)
config['mu'] = 1.
model = csm.SpringModel3D(mesh, config)
print 'MODEL'
print model
print
viewer = ysv.SimpleViewer()
viewer.doc.addRenderer('mesh', yr.MeshRenderer(mesh))
viewer.doc.addObject('mesh', mesh)
viewer.doc.addRenderer(
'model', csr.SpringModel3DRenderer(model, (255, 255, 255), True, True))
viewer.setRecSimulObjs([model])
viewer.setMaxFrame(len(motion) - 1)
frameTime = 1. / 30.
stepsPerFrame = 10
timeStep = frameTime / stepsPerFrame
print 'SIMULATION'
print 'timeStep', timeStep
print
# with rendering
pt = [0]
def preFrameCallback(frame):
if frame == 0:
pt[0] = time.time()
mesh.update(motion[frame])
def simulateCallback(frame):
print frame
model.updateSprings(mesh)
for i in range(int(stepsPerFrame)):
model.step(timeStep)
print frame, model.getUpperCOMPos()[1]
if frame == len(motion) - 1:
print 'elapsed time:', time.time() - pt[0]
viewer.setPreFrameCallback(preFrameCallback)
viewer.setSimulateCallback(simulateCallback)
# # without rendering
# pt = time.time()
# for frame in range(len(motion)):
# motion.frame = frame
# mesh.update(motion[frame])
# model.updateSprings(mesh)
# for step in range(int(stepsPerFrame)):
# model.step(timeStep)
# print 'elapsed time:', time.time()-pt
viewer.startTimer(frameTime)
viewer.show()
Fl.run()
