def create_body_global_3ds(model,
motion_frames,
body_links,
frame,
link_names=None):
# bf生成
bf = VmdBoneFrame()
bf.frame = frame
# 全身のグローバル位置
# キー：ボーン名、値：ボーングローバル位置
body_global_3ds = {}
for limb_links in body_links:
# 頭と腕のリンクからグローバル位置を算出
_, _, _, _, global_3ds = utils.create_matrix_global(
model, limb_links, motion_frames, bf)
for l, g in zip(reversed(limb_links), global_3ds):
if link_names is None or (link_names and l.name in link_names):
# 指定リンク名リストがないか、ある場合、ボーン名がリンク名リストにある場合、登録
body_global_3ds[l.name] = g
logger.info("m: %s, frame: %s ---------------------", model.name, frame)
for k, v in body_global_3ds.items():
logger.info("%s: %s", k, v)
return body_global_3ds
def create_bone_global_3ds(model, motion_frames, body_links, frame, link_names,
bone_name, parent_bone_name):
# bf生成
bf = VmdBoneFrame()
bf.frame = frame
# 指定されたボーンを含むリンクのグローバル位置を算出
logger.info("replace_model: %s", model.name)
logger.info("bone_name: %s", bone_name)
logger.debug("link_names[bone_name]: %s", link_names[bone_name])
logger.debug("body_links[link_names[bone_name]]: %s",
body_links[link_names[bone_name]])
_, _, _, _, global_3ds = utils.create_matrix_global(
model, body_links[link_names[bone_name]], motion_frames, bf)
pgpos = QVector3D()
for l, g in zip(reversed(body_links[link_names[bone_name]]), global_3ds):
if l.name == parent_bone_name:
# 該当親ボーンに相当するグローバル位置を取得
pgpos = g
if l.name == bone_name:
# 該当ボーンに相当するグローバル位置を取得
logger.info("parent: %s", pgpos)
logger.info("pos: %s: %s", bone_name, g)
return g, pgpos
# 指定されたボーンのグローバル位置が取得できなかった場合
logger.warn("指定ボーンのグローバル位置取得失敗 %s", bone_name)
return QVector3D(), QVector3D()
def position_to_frame_leg_one_side_calc(frame, pos, lower_correctqq,
lower_body_rotation, points,
slope_motion, direction_name):
# 足
direction = pos[points['Knee']] - pos[points['Hip']]
up = QVector3D.crossProduct((pos[points['Knee']] - pos[points['Hip']]),
(pos[points['Foot']] - pos[points['Knee']]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, -1, 0),
QVector3D(-1, 0, 0))
rotation = lower_correctqq * orientation * initial_orientation.inverted()
# 足の傾きデータ
leg_correctqq = QQuaternion()
if slope_motion is not None:
# Y軸の回転具合を求める
y_degree = (180 - abs(rotation.toEulerAngles().y())) / 180
# 一旦オイラー角に変換して、角度のかかり具合を補正し、再度クォータニオンに変換する
leg_correctqq = QQuaternion.fromEulerAngles(slope_motion.frames[
"{0}足".format(direction_name)][0].rotation.toEulerAngles() *
y_degree).inverted()
leg_rotation = leg_correctqq * lower_body_rotation.inverted() * rotation
# ひざ
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x82\xd0\x82\xb4' # 'ひざ'
direction = pos[points['Foot']] - pos[points['Knee']]
up = QVector3D.crossProduct((pos[points['Knee']] - pos[points['Hip']]),
(pos[points['Foot']] - pos[points['Knee']]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, -1, 0),
QVector3D(-1, 0, 0))
rotation = lower_correctqq * orientation * initial_orientation.inverted()
# ひざの傾きデータ
knee_correctqq = QQuaternion()
if slope_motion is not None:
# Y軸の回転具合を求める
y_degree = (180 - abs(rotation.toEulerAngles().y())) / 180
# 一旦オイラー角に変換して、角度のかかり具合を補正し、再度クォータニオンに変換する
knee_correctqq = QQuaternion.fromEulerAngles(slope_motion.frames[
"{0}ひざ".format(direction_name)][0].rotation.toEulerAngles() *
y_degree).inverted()
knee_rotation = knee_correctqq * leg_rotation.inverted(
) * lower_body_rotation.inverted() * rotation
return leg_rotation, knee_rotation
def test_reset_complement_01(self):
# モーションの宣言
motion = VmdMotion()
motion.frames["左手首"] = []
bf = VmdBoneFrame()
bf.format_name = "左手首"
bf.frame = 0
bf.read = True
bf.key = True
bf.complement = [
10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10,
10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10,
10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10,
10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10
]
motion.frames["左手首"].append(bf)
# 腕リストの宣言
arm_links = self.create_arm_links()
# 処理実施
sub_arm_ik.reset_complement(motion, arm_links)
for c in motion.frames["左手首"][0].complement:
self.assertEqual(10, c)
# 回転X,Y,Z
rotation = QQuaternion()
bone_avg_dic = {}
# 複数モーションの平均値を求める
for k, v_list in bone_sum_dic.items():
for n, v in enumerate(v_list):
# rotation += v.rotation
if n == 0:
rotation = v.rotation
else:
# 線形補間で平均を求める
rotation = QQuaternion.slerp(rotation, v.rotation, 0.5)
avg_frame = VmdBoneFrame()
# 名前はキーのをもらう
avg_frame.name = bone_name_dic[k]
# 一応正規化
avg_frame.rotation = rotation.normalized()
logger.debug("avg name: %s", k)
logger.debug("avg rotation all: %s", rotation)
logger.debug("avg rotation: %s", avg_frame.rotation)
logger.debug("avg rotation all.toEulerAngles(): %s", rotation.toEulerAngles())
logger.debug("avg rotation.toEulerAngles(): %s", avg_frame.rotation.toEulerAngles())
bone_avg_dic[k] = avg_frame
# 平均リスト
bone_avg_list = []
def positions_to_frames(pos, vis, frame_num=0, center_enabled=False, head_rotation=None):
"""convert positions to bone frames"""
frames = []
if len(pos) < 17:
return frames
# センター
if center_enabled:
bf = VmdBoneFrame()
bf.name = b'\x83\x5a\x83\x93\x83\x5e\x81\x5b' # 'センター'
bf.frame = frame_num
bf.position = pos[7]
frames.append(bf)
# 上半身
bf = VmdBoneFrame()
bf.name = b'\x8f\xe3\x94\xbc\x90\x67' # '上半身'
bf.frame = frame_num
direction = pos[8] - pos[7]
up = QVector3D.crossProduct(direction, (pos[14] - pos[11])).normalized()
upper_body_orientation = QQuaternion.fromDirection(direction, up)
initial = QQuaternion.fromDirection(QVector3D(0, 1, 0), QVector3D(0, 0, 1))
bf.rotation = upper_body_orientation * initial.inverted()
frames.append(bf)
upper_body_rotation = bf.rotation
# 下半身
bf = VmdBoneFrame()
bf.name = b'\x89\xba\x94\xbc\x90\x67' # '下半身'
bf.frame = frame_num
direction = pos[0] - pos[7]
up = QVector3D.crossProduct(direction, (pos[4] - pos[1]))
lower_body_orientation = QQuaternion.fromDirection(direction, up)
initial = QQuaternion.fromDirection(QVector3D(0, -1, 0), QVector3D(0, 0, 1))
bf.rotation = lower_body_orientation * initial.inverted()
lower_body_rotation = bf.rotation
frames.append(bf)
# 首は回転させず、頭のみ回転させる
# 頭
bf = VmdBoneFrame()
bf.name = b'\x93\xaa' # '頭'
bf.frame = frame_num
if head_rotation is None:
# direction = pos[10] - pos[9]
direction = pos[10] - pos[8]
up = QVector3D.crossProduct((pos[9] - pos[8]), (pos[10] - pos[9]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, 1, 0), QVector3D(1, 0, 0))
rotation = orientation * initial_orientation.inverted()
bf.rotation = upper_body_rotation.inverted() * rotation
else:
bf.rotation = upper_body_rotation.inverted() * head_rotation
frames.append(bf)
# 左腕
bf = VmdBoneFrame()
bf.name = b'\x8d\xb6\x98\x72' # '左腕'
bf.frame = frame_num
direction = pos[12] - pos[11]
up = QVector3D.crossProduct((pos[12] - pos[11]), (pos[13] - pos[12]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(1.73, -1, 0), QVector3D(1, 1.73, 0))
rotation = orientation * initial_orientation.inverted()
# 左腕ポーンの回転から親ボーンの回転を差し引いてbf.rotationに格納する。
# upper_body_rotation * bf.rotation = rotation なので、
bf.rotation = upper_body_rotation.inverted() * rotation
left_arm_rotation = bf.rotation # 後で使うので保存しておく
if vis[6]: # 左ひじが見えているなら
frames.append(bf)
# 左ひじ
bf = VmdBoneFrame()
bf.name = b'\x8d\xb6\x82\xd0\x82\xb6' # '左ひじ'
bf.frame = frame_num
direction = pos[13] - pos[12]
up = QVector3D.crossProduct((pos[12] - pos[11]), (pos[13] - pos[12]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(1.73, -1, 0), QVector3D(1, 1.73, 0))
rotation = orientation * initial_orientation.inverted()
# 左ひじポーンの回転から親ボーンの回転を差し引いてbf.rotationに格納する。
# upper_body_rotation * left_arm_rotation * bf.rotation = rotation なので、
bf.rotation = left_arm_rotation.inverted() * upper_body_rotation.inverted() * rotation
# bf.rotation = (upper_body_rotation * left_arm_rotation).inverted() * rotation # 別の表現
if vis[6] and vis[7]: # 左ひじと左手首が見えているなら
frames.append(bf)
# 右腕
bf = VmdBoneFrame()
bf.name = b'\x89\x45\x98\x72' # '右腕'
bf.frame = frame_num
direction = pos[15] - pos[14]
up = QVector3D.crossProduct((pos[15] - pos[14]), (pos[16] - pos[15]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(-1.73, -1, 0), QVector3D(1, -1.73, 0))
rotation = orientation * initial_orientation.inverted()
bf.rotation = upper_body_rotation.inverted() * rotation
right_arm_rotation = bf.rotation
if vis[3]: # 右ひじが見えているなら
frames.append(bf)
# 右ひじ
bf = VmdBoneFrame()
bf.name = b'\x89\x45\x82\xd0\x82\xb6' # '右ひじ'
bf.frame = frame_num
direction = pos[16] - pos[15]
up = QVector3D.crossProduct((pos[15] - pos[14]), (pos[16] - pos[15]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(-1.73, -1, 0), QVector3D(1, -1.73, 0))
rotation = orientation * initial_orientation.inverted()
bf.rotation = right_arm_rotation.inverted() * upper_body_rotation.inverted() * rotation
if vis[3] and vis[4]: # 右ひじと右手首が見えているなら
frames.append(bf)
# 左足
bf = VmdBoneFrame()
bf.name = b'\x8d\xb6\x91\xab' # '左足'
bf.frame = frame_num
direction = pos[5] - pos[4]
up = QVector3D.crossProduct((pos[5] - pos[4]), (pos[6] - pos[5]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, -1, 0), QVector3D(-1, 0, 0))
rotation = orientation * initial_orientation.inverted()
bf.rotation = lower_body_rotation.inverted() * rotation
left_leg_rotation = bf.rotation
if vis[12]: # 左ひざが見えているなら
frames.append(bf)
# 左ひざ
bf = VmdBoneFrame()
bf.name = b'\x8d\xb6\x82\xd0\x82\xb4' # '左ひざ'
bf.frame = frame_num
direction = pos[6] - pos[5]
up = QVector3D.crossProduct((pos[5] - pos[4]), (pos[6] - pos[5]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, -1, 0), QVector3D(-1, 0, 0))
rotation = orientation * initial_orientation.inverted()
bf.rotation = left_leg_rotation.inverted() * lower_body_rotation.inverted() * rotation
if vis[12] and vis[13]: # 左ひざと左足首が見えているなら
frames.append(bf)
# 右足
bf = VmdBoneFrame()
bf.name = b'\x89\x45\x91\xab' # '右足'
bf.frame = frame_num
direction = pos[2] - pos[1]
up = QVector3D.crossProduct((pos[2] - pos[1]), (pos[3] - pos[2]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, -1, 0), QVector3D(-1, 0, 0))
rotation = orientation * initial_orientation.inverted()
bf.rotation = lower_body_rotation.inverted() * rotation
right_leg_rotation = bf.rotation
if vis[9]: # 右ひざが見えているなら
frames.append(bf)
# 右ひざ
bf = VmdBoneFrame()
bf.name = b'\x89\x45\x82\xd0\x82\xb4' # '右ひざ'
bf.frame = frame_num
direction = pos[3] - pos[2]
up = QVector3D.crossProduct((pos[2] - pos[1]), (pos[3] - pos[2]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, -1, 0), QVector3D(-1, 0, 0))
rotation = orientation * initial_orientation.inverted()
bf.rotation = right_leg_rotation.inverted() * lower_body_rotation.inverted() * rotation
if vis[9] and vis[10]: # 右ひざと右足首が見えているなら
frames.append(bf)
return frames
def euler2qq(state, frame=0):
# 上半身
bf = VmdBoneFrame(frame)
bf.name = b'\x8f\xe3\x94\xbc\x90\x67' # '上半身'
x, y, z = tuple(state[0])
bf.rotation = QQuaternion.fromEulerAngles(QVector3D(x, y, z))
bone_frame_dic["上半身"].append(bf)
# 下半身
bf = VmdBoneFrame(frame)
bf.name = b'\x89\xba\x94\xbc\x90\x67' # '下半身'
x, y, z = tuple(state[1])
bf.rotation = QQuaternion.fromEulerAngles(QVector3D(x, y, z))
bone_frame_dic["下半身"].append(bf)
# 首
bf = VmdBoneFrame(frame)
bf.name = b'\x8e\xf1' # '首'
x, y, z = tuple(state[2])
bf.rotation = QQuaternion.fromEulerAngles(QVector3D(x, y, z))
bone_frame_dic["首"].append(bf)
# 頭
bf = VmdBoneFrame(frame)
bf.name = b'\x93\xaa' # '頭'
x, y, z = tuple(state[3])
bf.rotation = QQuaternion.fromEulerAngles(QVector3D(x, y, z))
bone_frame_dic["頭"].append(bf)
# 左肩
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x8C\xA8' # '左肩'
x, y, z = tuple(state[4])
bf.rotation = QQuaternion.fromEulerAngles(QVector3D(x, y, z))
bone_frame_dic["左肩"].append(bf)
# 左腕
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x98\x72' # '左腕'
x, y, z = tuple(state[5])
bf.rotation = QQuaternion.fromEulerAngles(QVector3D(x, y, z))
bone_frame_dic["左腕"].append(bf)
rotation_euler = list(bf.rotation.getEulerAngles())
# 左ひじ
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x82\xd0\x82\xb6' # '左ひじ'
x, y, z = tuple(state[6])
bf.rotation = QQuaternion.fromEulerAngles(QVector3D(x, y, z))
bone_frame_dic["左ひじ"].append(bf)
# 右肩
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x8C\xA8' # '右肩'
x, y, z = tuple(state[7])
bf.rotation = QQuaternion.fromEulerAngles(QVector3D(x, y, z))
bone_frame_dic["右肩"].append(bf)
# 右腕
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x98\x72' # '右腕'
x, y, z = tuple(state[8])
bf.rotation = QQuaternion.fromEulerAngles(QVector3D(x, y, z))
bone_frame_dic["右腕"].append(bf)
# 右ひじ
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x82\xd0\x82\xb6' # '右ひじ'
x, y, z = tuple(state[9])
bf.rotation = QQuaternion.fromEulerAngles(QVector3D(x, y, z))
bone_frame_dic["右ひじ"].append(bf)
# 左足
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x91\xab' # '左足'
bone_frame_dic["左足"].append(bf)
# 左ひざ
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x82\xd0\x82\xb4' # '左ひざ'
bone_frame_dic["左ひざ"].append(bf)
# 右足
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x91\xab' # '右足'
bone_frame_dic["右足"].append(bf)
# 右ひざ
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x82\xd0\x82\xb4' # '右ひざ'
bone_frame_dic["右ひざ"].append(bf)
# センター(箱だけ作る)
bf = VmdBoneFrame(frame)
bf.name = b'\x83\x5A\x83\x93\x83\x5E\x81\x5B' # 'センター'
bone_frame_dic["センター"].append(bf)
# グルーブ(箱だけ作る)
bf = VmdBoneFrame(frame)
bf.name = b'\x83\x4F\x83\x8B\x81\x5B\x83\x75' # 'グルーブ'
bone_frame_dic["グルーブ"].append(bf)
# 左足ＩＫ
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x91\xab\x82\x68\x82\x6a' # '左足ＩＫ'
bone_frame_dic["左足ＩＫ"].append(bf)
# 右足ＩＫ
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x91\xab\x82\x68\x82\x6a' # '右足ＩＫ'
bone_frame_dic["右足ＩＫ"].append(bf)
def read_vmd_file(self, filename):
"""Read VMD data to a file"""
fin = open(filename, "rb").read()
motion = VmdMotion()
# vmdバージョン
signature = struct.unpack_from("30s", fin, 0)
# vmdバージョンは英語だけなので、とりあえずutf-8変換
motion.signature = byte_decode(signature[0], "utf-8")
logger.debug("signature %s", motion.signature)
# モデル名
model_name = struct.unpack_from("20s", fin, 30)
# 文字コード
encoding = get_encoding(model_name[0])
motion.model_name = byte_decode(model_name[0], encoding)
logger.debug("model_name %s", motion.model_name)
# モーション数
motion_cnt = struct.unpack_from("I", fin, 50)
motion.motion_cnt = motion_cnt[0]
logger.debug("motion_cnt %s", motion.motion_cnt)
# 1F分の情報
for n in range(motion.motion_cnt):
frame = VmdBoneFrame()
# ボーン名
bone_bname = struct.unpack_from("15s", fin, 54 + (n * 111))
# ボーン名はそのまま追加
frame.name = bone_bname[0]
# ボーン名を分かる形に変換(キー用)
bone_name = byte_decode(bone_bname[0], encoding)
logger.debug("frame.name %s", bone_name)
# フレームIDX
frame.frame = struct.unpack_from("I", fin, 69 + (n * 111))[0]
logger.debug("frame.frame %s", frame.frame)
# 位置X,Y,Z
frame.position.setX(struct.unpack_from("f", fin, 73 + (n * 111))[0])
frame.position.setY(struct.unpack_from("f", fin, 77 + (n * 111))[0])
frame.position.setZ(struct.unpack_from("f", fin, 81 + (n * 111))[0])
logger.debug("frame.position %s", frame.position)
# 回転X,Y,Z,scalar
frame.rotation.setX(struct.unpack_from("f", fin, 85 + (n * 111))[0])
frame.rotation.setY(struct.unpack_from("f", fin, 89 + (n * 111))[0])
frame.rotation.setZ(struct.unpack_from("f", fin, 93 + (n * 111))[0])
frame.rotation.setScalar(struct.unpack_from("f", fin, 97 + (n * 111))[0])
logger.debug("frame.rotation %s", frame.rotation)
logger.debug("frame.rotation.toEulerAngles() %s", frame.rotation.toEulerAngles())
# 補間曲線
frame.complement=['%x' % x for x in range(struct.unpack_from("64B", fin, 101 + (n * 111))[0]) ]
logger.debug("frame.complement %s", frame.complement)
if bone_name not in motion.frames:
# まだ辞書にない場合、配列追加
motion.frames[bone_name] = []
# 辞書の該当部分にボーンフレームを追加
motion.frames[bone_name].append(frame)
return motion
def positions_to_frames(pos, frame=0, xangle=0):
logger.debug("角度計算 frame={0}".format(str(frame)))
# 補正角度のクォータニオン
correctqq = QQuaternion.fromEulerAngles(QVector3D(xangle, 0, 0))
"""convert positions to bone frames"""
# 上半身
bf = VmdBoneFrame(frame)
bf.name = b'\x8f\xe3\x94\xbc\x90\x67' # '上半身'
direction = pos[8] - pos[7]
up = QVector3D.crossProduct(direction, (pos[14] - pos[11])).normalized()
upper_body_orientation = QQuaternion.fromDirection(direction, up)
initial = QQuaternion.fromDirection(QVector3D(0, 1, 0), QVector3D(0, 0, 1))
# 補正をかけて回転する
bf.rotation = correctqq * upper_body_orientation * initial.inverted()
upper_body_rotation = bf.rotation
bone_frame_dic["上半身"].append(bf)
# 下半身
bf = VmdBoneFrame(frame)
bf.name = b'\x89\xba\x94\xbc\x90\x67' # '下半身'
direction = pos[0] - pos[7]
up = QVector3D.crossProduct(direction, (pos[4] - pos[1]))
lower_body_orientation = QQuaternion.fromDirection(direction, up)
initial = QQuaternion.fromDirection(QVector3D(0, -1, 0), QVector3D(0, 0, 1))
bf.rotation = correctqq * lower_body_orientation * initial.inverted()
lower_body_rotation = bf.rotation
bone_frame_dic["下半身"].append(bf)
# 首
bf = VmdBoneFrame(frame)
bf.name = b'\x8e\xf1' # '首'
direction = pos[9] - pos[8]
up = QVector3D.crossProduct((pos[14] - pos[11]), direction).normalized()
neck_orientation = QQuaternion.fromDirection(up, direction)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, 0, -1), QVector3D(0, -1, 0))
rotation = correctqq * neck_orientation * initial_orientation.inverted()
bf.rotation = upper_body_orientation.inverted() * rotation
neck_rotation = bf.rotation
bone_frame_dic["首"].append(bf)
# 頭
bf = VmdBoneFrame(frame)
bf.name = b'\x93\xaa' # '頭'
direction = pos[10] - pos[9]
up = QVector3D.crossProduct((pos[9] - pos[8]), (pos[10] - pos[9]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, 1, 0), QVector3D(1, 0, 0))
rotation = correctqq * orientation * initial_orientation.inverted()
bf.rotation = neck_rotation.inverted() * upper_body_rotation.inverted() * rotation
bone_frame_dic["頭"].append(bf)
# FIXME 一旦コメントアウト
# 左肩
# bf = VmdBoneFrame(frame)
# bf.name = b'\x8d\xb6\x8C\xA8' # '左肩'
# direction = pos[11] - pos[8]
# up = QVector3D.crossProduct((pos[11] - pos[8]), (pos[12] - pos[11]))
# orientation = QQuaternion.fromDirection(direction, up)
# # TODO パラメータ要調整
# initial_orientation = QQuaternion.fromDirection(QVector3D(2, -0.5, 0), QVector3D(0, 0.5, -1.5))
# rotation = correctqq * orientation * initial_orientation.inverted()
# # 左肩ポーンの回転から親ボーンの回転を差し引いてbf.rotationに格納する。
# # upper_body_rotation * bf.rotation = rotation なので、
# left_shoulder_rotation = upper_body_rotation.inverted() * rotation # 後で使うので保存しておく
# bf.rotation = left_shoulder_rotation
# bone_frame_dic["左肩"].append(bf)
# 左腕
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x98\x72' # '左腕'
direction = pos[12] - pos[11]
up = QVector3D.crossProduct((pos[12] - pos[11]), (pos[13] - pos[12]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(1.73, -1, 0), QVector3D(1, 1.73, 0))
rotation = correctqq * orientation * initial_orientation.inverted()
# 左腕ポーンの回転から親ボーンの回転を差し引いてbf.rotationに格納する。
# left_shoulder_rotation * upper_body_rotation * bf.rotation = rotation なので、
bf.rotation = upper_body_rotation.inverted() * rotation
left_arm_rotation = bf.rotation # 後で使うので保存しておく
bone_frame_dic["左腕"].append(bf)
# 左ひじ
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x82\xd0\x82\xb6' # '左ひじ'
direction = pos[13] - pos[12]
up = QVector3D.crossProduct((pos[12] - pos[11]), (pos[13] - pos[12]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(1.73, -1, 0), QVector3D(1, 1.73, 0))
rotation = orientation * initial_orientation.inverted()
# ひじはX軸補正しない(Y軸にしか曲がらないから)
# 左ひじポーンの回転から親ボーンの回転を差し引いてbf.rotationに格納する。
# upper_body_rotation * left_arm_rotation * bf.rotation = rotation なので、
bf.rotation = left_arm_rotation.inverted() * upper_body_rotation.inverted() * rotation
# bf.rotation = (upper_body_rotation * left_arm_rotation).inverted() * rotation # 別の表現
bone_frame_dic["左ひじ"].append(bf)
# FIXME 一旦コメントアウト
# 右肩
# bf = VmdBoneFrame(frame)
# bf.name = b'\x89\x45\x8C\xA8' # '右肩'
# direction = pos[14] - pos[8]
# up = QVector3D.crossProduct((pos[14] - pos[8]), (pos[15] - pos[14]))
# orientation = QQuaternion.fromDirection(direction, up)
# # TODO パラメータ要調整
# initial_orientation = QQuaternion.fromDirection(QVector3D(-2, -0.5, 0), QVector3D(0, 0.5, 1.5))
# rotation = correctqq * orientation * initial_orientation.inverted()
# # 左肩ポーンの回転から親ボーンの回転を差し引いてbf.rotationに格納する。
# # upper_body_rotation * bf.rotation = rotation なので、
# right_shoulder_rotation = upper_body_rotation.inverted() * rotation # 後で使うので保存しておく
# bf.rotation = right_shoulder_rotation
# bone_frame_dic["右肩"].append(bf)
# 右腕
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x98\x72' # '右腕'
direction = pos[15] - pos[14]
up = QVector3D.crossProduct((pos[15] - pos[14]), (pos[16] - pos[15]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(-1.73, -1, 0), QVector3D(1, -1.73, 0))
rotation = correctqq * orientation * initial_orientation.inverted()
bf.rotation = upper_body_rotation.inverted() * rotation
right_arm_rotation = bf.rotation
bone_frame_dic["右腕"].append(bf)
# 右ひじ
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x82\xd0\x82\xb6' # '右ひじ'
direction = pos[16] - pos[15]
up = QVector3D.crossProduct((pos[15] - pos[14]), (pos[16] - pos[15]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(-1.73, -1, 0), QVector3D(1, -1.73, 0))
# ひじはX軸補正しない(Y軸にしか曲がらないから)
rotation = orientation * initial_orientation.inverted()
bf.rotation = right_arm_rotation.inverted() * upper_body_rotation.inverted() * rotation
bone_frame_dic["右ひじ"].append(bf)
# 左足
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x91\xab' # '左足'
direction = pos[5] - pos[4]
up = QVector3D.crossProduct((pos[5] - pos[4]), (pos[6] - pos[5]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, -1, 0), QVector3D(-1, 0, 0))
rotation = correctqq * orientation * initial_orientation.inverted()
bf.rotation = lower_body_rotation.inverted() * rotation
left_leg_rotation = bf.rotation
bone_frame_dic["左足"].append(bf)
# 左ひざ
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x82\xd0\x82\xb4' # '左ひざ'
direction = pos[6] - pos[5]
up = QVector3D.crossProduct((pos[5] - pos[4]), (pos[6] - pos[5]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, -1, 0), QVector3D(-1, 0, 0))
rotation = correctqq * orientation * initial_orientation.inverted()
bf.rotation = left_leg_rotation.inverted() * lower_body_rotation.inverted() * rotation
bone_frame_dic["左ひざ"].append(bf)
# 右足
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x91\xab' # '右足'
direction = pos[2] - pos[1]
up = QVector3D.crossProduct((pos[2] - pos[1]), (pos[3] - pos[2]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, -1, 0), QVector3D(-1, 0, 0))
rotation = correctqq * orientation * initial_orientation.inverted()
bf.rotation = lower_body_rotation.inverted() * rotation
right_leg_rotation = bf.rotation
bone_frame_dic["右足"].append(bf)
# 右ひざ
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x82\xd0\x82\xb4' # '右ひざ'
direction = pos[3] - pos[2]
up = QVector3D.crossProduct((pos[2] - pos[1]), (pos[3] - pos[2]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, -1, 0), QVector3D(-1, 0, 0))
rotation = correctqq * orientation * initial_orientation.inverted()
bf.rotation = right_leg_rotation.inverted() * lower_body_rotation.inverted() * rotation
bone_frame_dic["右ひざ"].append(bf)
# センター(箱だけ作る)
bf = VmdBoneFrame(frame)
bf.name = b'\x83\x5A\x83\x93\x83\x5E\x81\x5B' # 'センター'
bone_frame_dic["センター"].append(bf)
# グルーブ(箱だけ作る)
bf = VmdBoneFrame(frame)
bf.name = b'\x83\x4F\x83\x8B\x81\x5B\x83\x75' # 'グルーブ'
bone_frame_dic["グルーブ"].append(bf)
def main(csv_bone_path, csv_morph_path, csv_camera_path):
try:
bone_frames = []
morph_frames = []
camera_frames = []
if csv_bone_path:
output_vmd_path = re.sub(
r'\.csv$', "_{0:%Y%m%d_%H%M%S}.vmd".format(datetime.now()),
csv_bone_path)
# ボーンCSV読み込み
with open(csv_bone_path, encoding='cp932', mode='r') as f:
reader = csv.reader(f)
next(reader) # ヘッダーを読み飛ばす
for row in reader:
bf = VmdBoneFrame()
# ボーン名
bf.format_name = row[0]
# ボーン名（バイト）
bf.name = bf.format_name.encode('cp932').decode(
'shift_jis').encode('shift_jis')
# フレーム
bf.frame = int(row[1])
# 位置
bf.position = QVector3D(float(row[2]), float(row[3]),
float(row[4]))
# 回転
bf.rotation = QQuaternion.fromEulerAngles(
float(row[5]),
float(row[6]) * -1,
float(row[7]) * -1)
# 補間曲線
bf.complement = [
int(row[8]),
int(row[9]),
int(row[10]),
int(row[11]),
int(row[12]),
int(row[13]),
int(row[14]),
int(row[15]),
int(row[16]),
int(row[17]),
int(row[18]),
int(row[19]),
int(row[20]),
int(row[21]),
int(row[22]),
int(row[23]),
int(row[24]),
int(row[25]),
int(row[26]),
int(row[27]),
int(row[28]),
int(row[29]),
int(row[30]),
int(row[31]),
int(row[32]),
int(row[33]),
int(row[34]),
int(row[35]),
int(row[36]),
int(row[37]),
int(row[38]),
int(row[39]),
int(row[40]),
int(row[41]),
int(row[42]),
int(row[43]),
int(row[44]),
int(row[45]),
int(row[46]),
int(row[47]),
int(row[48]),
int(row[49]),
int(row[50]),
int(row[51]),
int(row[52]),
int(row[53]),
int(row[54]),
int(row[55]),
int(row[56]),
int(row[57]),
int(row[58]),
int(row[59]),
int(row[60]),
int(row[61]),
int(row[62]),
int(row[63]),
int(row[64]),
int(row[65]),
int(row[66]),
int(row[67]),
int(row[68]),
int(row[69]),
int(row[70]),
int(row[71])
]
bone_frames.append(bf)
# logger.debug("bf: %s %s", bf.name, bf)
if csv_morph_path:
output_vmd_path = re.sub(
r'\.csv$', "_{0:%Y%m%d_%H%M%S}.vmd".format(datetime.now()),
csv_morph_path)
# モーフCSV読み込み
with open(csv_morph_path, encoding='cp932', mode='r') as f:
reader = csv.reader(f)
next(reader) # ヘッダーを読み飛ばす
for row in reader:
mf = VmdMorphFrame()
# ボーン名
mf.format_name = row[0]
# ボーン名（バイト）
mf.name = mf.format_name.encode('cp932').decode(
'shift_jis').encode('shift_jis')
# フレーム
mf.frame = int(row[1])
# 位置
mf.ratio = float(row[2])
morph_frames.append(mf)
writer = VmdWriter()
if len(morph_frames) > 0 or len(bone_frames) > 0:
# ボーン・モーフモーション生成
writer.write_vmd_file(output_vmd_path, "CSV Convert Model",
bone_frames, morph_frames, [], [], [], [])
print("ボーン・モーフVMD出力成功: %s" % output_vmd_path)
if csv_camera_path:
# カメラCSV読み込み
with open(csv_camera_path, encoding='cp932', mode='r') as f:
reader = csv.reader(f)
next(reader) # ヘッダーを読み飛ばす
for row in reader:
cf = VmdCameraFrame()
# フレーム
cf.frame = int(row[0])
# 位置
cf.position = QVector3D(float(row[1]), float(row[2]),
float(row[3]))
# 回転（オイラー角）
cf.euler = QVector3D(float(row[4]), float(row[5]),
float(row[6]))
# 距離
cf.length = -(float(row[7]))
# 視野角
cf.angle = int(row[8])
# パース
cf.perspective = int(row[9])
# 補間曲線
cf.complement = [
int(row[10]),
int(row[11]),
int(row[12]),
int(row[13]),
int(row[14]),
int(row[15]),
int(row[16]),
int(row[17]),
int(row[18]),
int(row[19]),
int(row[20]),
int(row[21]),
int(row[22]),
int(row[23]),
int(row[24]),
int(row[25]),
int(row[26]),
int(row[27]),
int(row[28]),
int(row[29]),
int(row[30]),
int(row[31]),
int(row[32]),
int(row[33])
]
camera_frames.append(cf)
# logger.debug("bf: %s %s", bf.name, bf)
if len(camera_frames) > 0:
# カメラモーション生成
output_vmd_path = re.sub(
r'\.csv$', "_{0:%Y%m%d_%H%M%S}.vmd".format(datetime.now()),
csv_camera_path)
writer.write_vmd_file(output_vmd_path, "CSV Convert Model", [], [],
camera_frames, [], [], [])
print("カメラVMD出力成功: %s" % output_vmd_path)
except Exception:
print("■■■■■■■■■■■■■■■■■")
print("■ **ERROR** ")
print("■ CSV解析処理が意図せぬエラーで終了しました。")
print("■■■■■■■■■■■■■■■■■")
print(traceback.format_exc())
def exec(motion, trace_model, replace_model, output_vmd_path,
org_motion_frames, camera_motion):
if not camera_motion:
# カメラモーションが未指定の場合、処理しない
return True
if camera_motion.camera_cnt == 0:
# カメラフレームがなかったら処理しない
return True
# 足IKのXYZの比率
# 横と前後方向の移動はこれと同じ幅に補正されるので。
xz_ratio, _, _ = sub_move.calc_leg_ik_ratio(trace_model, replace_model)
# 全身比率、頭身比率、Ｚ比率
height_ratio, head_ratio, head_z_ratio, org_head_ratio = calc_head_ratio(
trace_model, replace_model)
# 情報提供
# print("カメラ補正: x=%s, y=%s, z=%s + %s 距離=%s" % (xz_ratio, y_ratio, xz_ratio, replace_model.bones[offset_target_bone].offset_z, xz_ratio))
print("カメラ補正: x=%s, y=%s, z=%s" % (xz_ratio, height_ratio, xz_ratio))
print("カメラ補正: 全身比率=%s, 頭身比率=%s(%s)" %
(height_ratio, head_ratio, org_head_ratio))
# 作成元モデル：全身のリンク
org_body_links, org_link_names = create_body_links(trace_model)
# 変換先モデル：全身のリンク
rep_body_links, rep_link_names = create_body_links(replace_model)
# 移動縮尺
prev_cf_pos = None
is_only_length = False
for cf_idx, cf in enumerate(camera_motion.cameras):
logger.debug("cf.frame: %s, l: %s, a: %s", cf.frame, cf.length,
cf.angle)
logger.info("cf.p: %s", cf.position)
if prev_cf_pos:
logger.info("prev_cf_pos: %s", prev_cf_pos)
logger.debug("cf.e: %s", cf.euler)
org_nearest_bone_name = None
org_nearest_bone_global_pos = None
rep_bone_global_pos = None
org_head_min_boundingbox = None
org_head_max_boundingbox = None
rep_head_min_boundingbox = None
rep_head_max_boundingbox = None
if cf_idx > 0 and prev_cf_pos is not None and cf.position == prev_cf_pos:
# 前回と同じカメラ位置の場合、カメラ位置コピー
logger.info("カメラ位置コピー")
# 実際にコピーするのは、サイジングした位置情報
cf.position = copy.deepcopy(camera_motion.cameras[cf_idx -
1].position)
is_only_length = True
else:
# カメラ位置が変わっている場合、距離以外も調整する
is_only_length = False
# 作成元モデルの各ボーングローバル位置
org_body_global_3ds = create_body_global_3ds(
trace_model, org_motion_frames, org_body_links, cf.frame,
rep_link_names)
# 作成元モデルのどのボーンに最も近いか
org_nearest_bone_name, org_nearest_bone_global_pos, org_nearest_parent_bone_name, _ = calc_nearest_bone(
org_body_global_3ds, cf)
# 作成元モデルの最も近いボーン名と同じボーンの位置を、変換先モデルから取得する
rep_bone_global_pos, _ = create_bone_global_3ds(
replace_model, motion.frames, rep_body_links, cf.frame,
rep_link_names, org_nearest_bone_name,
org_nearest_parent_bone_name)
# 直近ボーンが頭付近の場合、頭の頂点を取得
org_head_min_boundingbox = org_head_max_boundingbox = rep_head_min_boundingbox = rep_head_max_boundingbox = None
if org_nearest_bone_name in ["首", "頭"]:
bf = VmdBoneFrame()
bf.frame = cf.frame
org_head_min_boundingbox, org_head_max_boundingbox = calc_boundingbox(
trace_model, "頭", org_body_links[org_link_names["頭"]],
org_motion_frames, bf)
rep_head_min_boundingbox, rep_head_max_boundingbox = calc_boundingbox(
replace_model, "頭", rep_body_links[rep_link_names["頭"]],
motion.frames, bf)
# 前回カメラ位置として保持（カメラ位置変えるので、コピー保持）
prev_cf_pos = copy.deepcopy(cf.position)
# 新しいカメラを生成
create_camera_frame( org_nearest_bone_name, org_nearest_bone_global_pos, rep_bone_global_pos, \
org_head_min_boundingbox, org_head_max_boundingbox, rep_head_min_boundingbox, rep_head_max_boundingbox, \
is_only_length, xz_ratio, height_ratio, head_ratio, head_z_ratio, org_head_ratio, cf )
logger.info("[after] cf.frame: %s", cf.frame)
logger.info("[after] cf.position: %s", cf.position)
logger.info("[after] cf.euler: %s", cf.euler)
logger.info("[after] cf.length: %s", cf.length)
# if cf.frame > 540:
# break
print("カメラ調整終了")
return True
def positions_to_frames(pos, head_rotation=None):
"""convert positions to bone frames"""
frames = []
# 上半身
bf = VmdBoneFrame()
bf.name = b'\x8f\xe3\x94\xbc\x90\x67' # '上半身'
direction = pos[8] - pos[7]
up = QVector3D.crossProduct(direction, (pos[14] - pos[11])).normalized()
upper_body_orientation = QQuaternion.fromDirection(direction, up)
initial = QQuaternion.fromDirection(QVector3D(0, 1, 0), QVector3D(0, 0, 1))
bf.rotation = upper_body_orientation * initial.inverted()
frames.append(bf)
upper_body_rotation = bf.rotation
# 下半身
bf = VmdBoneFrame()
bf.name = b'\x89\xba\x94\xbc\x90\x67' # '下半身'
direction = pos[0] - pos[7]
up = QVector3D.crossProduct(direction, (pos[4] - pos[1]))
lower_body_orientation = QQuaternion.fromDirection(direction, up)
initial = QQuaternion.fromDirection(QVector3D(0, -1, 0),
QVector3D(0, 0, 1))
bf.rotation = lower_body_orientation * initial.inverted()
lower_body_rotation = bf.rotation
frames.append(bf)
# 首は回転させず、頭のみ回転させる
# 頭
bf = VmdBoneFrame()
bf.name = b'\x93\xaa' # '頭'
if head_rotation is None:
# direction = pos[10] - pos[9]
direction = pos[10] - pos[8]
up = QVector3D.crossProduct((pos[9] - pos[8]), (pos[10] - pos[9]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(
QVector3D(0, 1, 0), QVector3D(1, 0, 0))
rotation = orientation * initial_orientation.inverted()
bf.rotation = upper_body_rotation.inverted() * rotation
else:
bf.rotation = upper_body_rotation.inverted() * head_rotation
frames.append(bf)
# 左腕
bf = VmdBoneFrame()
bf.name = b'\x8d\xb6\x98\x72' # '左腕'
direction = pos[12] - pos[11]
up = QVector3D.crossProduct((pos[12] - pos[11]), (pos[13] - pos[12]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(1.73, -1, 0),
QVector3D(1, 1.73, 0))
rotation = orientation * initial_orientation.inverted()
# 左腕ポーンの回転から親ボーンの回転を差し引いてbf.rotationに格納する。
# upper_body_rotation * bf.rotation = rotation なので、
bf.rotation = upper_body_rotation.inverted() * rotation
left_arm_rotation = bf.rotation # 後で使うので保存しておく
frames.append(bf)
# 左ひじ
bf = VmdBoneFrame()
bf.name = b'\x8d\xb6\x82\xd0\x82\xb6' # '左ひじ'
direction = pos[13] - pos[12]
up = QVector3D.crossProduct((pos[12] - pos[11]), (pos[13] - pos[12]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(1.73, -1, 0),
QVector3D(1, 1.73, 0))
rotation = orientation * initial_orientation.inverted()
# 左ひじポーンの回転から親ボーンの回転を差し引いてbf.rotationに格納する。
# upper_body_rotation * left_arm_rotation * bf.rotation = rotation なので、
bf.rotation = left_arm_rotation.inverted() * upper_body_rotation.inverted(
) * rotation
# bf.rotation = (upper_body_rotation * left_arm_rotation).inverted() * rotation # 別の表現
frames.append(bf)
# 右腕
bf = VmdBoneFrame()
bf.name = b'\x89\x45\x98\x72' # '右腕'
direction = pos[15] - pos[14]
up = QVector3D.crossProduct((pos[15] - pos[14]), (pos[16] - pos[15]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(-1.73, -1, 0),
QVector3D(1, -1.73, 0))
rotation = orientation * initial_orientation.inverted()
bf.rotation = upper_body_rotation.inverted() * rotation
right_arm_rotation = bf.rotation
frames.append(bf)
# 右ひじ
bf = VmdBoneFrame()
bf.name = b'\x89\x45\x82\xd0\x82\xb6' # '右ひじ'
direction = pos[16] - pos[15]
up = QVector3D.crossProduct((pos[15] - pos[14]), (pos[16] - pos[15]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(-1.73, -1, 0),
QVector3D(1, -1.73, 0))
rotation = orientation * initial_orientation.inverted()
bf.rotation = right_arm_rotation.inverted() * upper_body_rotation.inverted(
) * rotation
frames.append(bf)
# 左足
bf = VmdBoneFrame()
bf.name = b'\x8d\xb6\x91\xab' # '左足'
direction = pos[5] - pos[4]
up = QVector3D.crossProduct((pos[5] - pos[4]), (pos[6] - pos[5]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, -1, 0),
QVector3D(-1, 0, 0))
rotation = orientation * initial_orientation.inverted()
bf.rotation = lower_body_rotation.inverted() * rotation
left_leg_rotation = bf.rotation
frames.append(bf)
# 左ひざ
bf = VmdBoneFrame()
bf.name = b'\x8d\xb6\x82\xd0\x82\xb4' # '左ひざ'
direction = pos[6] - pos[5]
up = QVector3D.crossProduct((pos[5] - pos[4]), (pos[6] - pos[5]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, -1, 0),
QVector3D(-1, 0, 0))
rotation = orientation * initial_orientation.inverted()
bf.rotation = left_leg_rotation.inverted() * lower_body_rotation.inverted(
) * rotation
frames.append(bf)
# 右足
bf = VmdBoneFrame()
bf.name = b'\x89\x45\x91\xab' # '右足'
direction = pos[2] - pos[1]
up = QVector3D.crossProduct((pos[2] - pos[1]), (pos[3] - pos[2]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, -1, 0),
QVector3D(-1, 0, 0))
rotation = orientation * initial_orientation.inverted()
bf.rotation = lower_body_rotation.inverted() * rotation
right_leg_rotation = bf.rotation
frames.append(bf)
# 右ひざ
bf = VmdBoneFrame()
bf.name = b'\x89\x45\x82\xd0\x82\xb4' # '右ひざ'
direction = pos[3] - pos[2]
up = QVector3D.crossProduct((pos[2] - pos[1]), (pos[3] - pos[2]))
orientation = QQuaternion.fromDirection(direction, up)
initial_orientation = QQuaternion.fromDirection(QVector3D(0, -1, 0),
QVector3D(-1, 0, 0))
rotation = orientation * initial_orientation.inverted()
bf.rotation = right_leg_rotation.inverted() * lower_body_rotation.inverted(
) * rotation
frames.append(bf)
return frames
def read_vmd_file(self, filename):
# VMDファイルをバイナリ読み込み
self.buffer = open(filename, "rb").read()
# vmdバージョン
signature = self.unpack(30, "30s")
logger.debug("signature %s", signature)
motion = VmdMotion()
# モデル名
model_bname, model_name = self.read_text(20)
logger.debug("model_bname %s", model_bname)
motion.model_name = model_name
# モーション数
motion.motion_cnt = self.read_uint(4)
logger.debug("motion.motion_cnt %s", motion.motion_cnt)
# 1F分のモーション情報
for _ in range(motion.motion_cnt):
frame = VmdBoneFrame()
# ボーン ----------------------
# ボーン名
bone_bname, bone_name = self.read_text(15)
frame.name = bone_bname
frame.format_name = bone_name
logger.debug("name: %s, format_name %s", bone_bname, bone_name)
# フレームIDX
frame.frame = self.read_uint(4)
logger.debug("frame.frame %s", frame.frame)
# 位置X,Y,Z
frame.position = self.read_Vector3D()
logger.debug("frame.position %s", frame.position)
# 回転X,Y,Z,scalar
frame.rotation = self.read_Quaternion()
logger.debug("frame.rotation %s", frame.rotation)
logger.debug("frame.rotation.euler %s",
frame.rotation.toEulerAngles())
# 補間曲線
frame.complement = self.unpack(64, "64B", True)
logger.debug("complement %s", frame.complement)
if bone_name not in motion.frames:
# まだ辞書にない場合、配列追加
motion.frames[bone_name] = []
# 辞書の該当部分にボーンフレームを追加
motion.frames[bone_name].append(frame)
if frame.frame > motion.last_motion_frame:
# 最終フレームを記録
motion.last_motion_frame = frame.frame
# ソート
for k, v in motion.frames.items():
motion.frames[k] = sorted(v, key=lambda u: u.frame)
# モーフ数
motion.morph_cnt = self.read_uint(4)
logger.debug("motion.morph_cnt %s", motion.morph_cnt)
# 1F分のモーフ情報
for _ in range(motion.morph_cnt):
morph = VmdMorphFrame()
# ボーン ----------------------
# ボーン名
morph_bname, morph_name = self.read_text(15)
morph.name = morph_bname
morph.format_name = morph_name
logger.debug("name: %s, format_name %s", morph_bname, morph_name)
# フレームIDX
morph.frame = self.read_uint(4)
logger.debug("morph.frame %s", morph.frame)
# 度数
morph.ratio = self.read_float(4)
logger.debug("morph.ratio %s", morph.ratio)
if morph_name not in motion.morphs:
# まだ辞書にない場合、配列追加
motion.morphs[morph_name] = []
# 辞書の該当部分にモーフフレームを追加
motion.morphs[morph_name].append(morph)
# ソート
for k, v in motion.morphs.items():
motion.morphs[k] = sorted(v, key=lambda u: u.frame)
# カメラ数
motion.camera_cnt = self.read_uint(4)
logger.debug("motion.camera_cnt %s", motion.camera_cnt)
# 1F分のカメラ情報
for _ in range(motion.camera_cnt):
camera = VmdCameraFrame()
# フレームIDX
camera.frame = self.read_uint(4)
logger.debug("camera.frame %s", camera.frame)
# 距離
camera.length = self.read_float(4)
logger.debug("camera.length %s", camera.length)
# 位置X,Y,Z
camera.position = self.read_Vector3D()
logger.debug("camera.position %s", camera.position)
# 角度（オイラー角）
camera.euler = self.read_Vector3D()
logger.debug("camera.euler %s", camera.euler)
# 補間曲線
camera.complement = self.unpack(24, "24B", True)
logger.debug("camera.complement %s", camera.complement)
# 視野角
camera.angle = self.read_uint(4)
logger.debug("camera.angle %s", camera.angle)
# パース有無
camera.perspective = self.unpack(1, "B")
# カメラを追加
motion.cameras.append(camera)
# ソート
motion.cameras = sorted(motion.cameras, key=lambda u: u.frame)
return motion
def read_vmd_file(self, filepath):
# VMDファイルをバイナリ読み込み
self.buffer = open(filepath, "rb").read()
# vmdバージョン
signature = self.unpack(30, "30s")
logger.debug("signature %s", signature)
motion = VmdMotion()
# モーションパス
motion.path = filepath
# モデル名
model_bname, model_name = self.read_text(20)
logger.debug("model_bname %s, model_name: %s", model_bname, model_name)
motion.model_name = model_name
# モーション数
motion.motion_cnt = self.read_uint(4)
logger.debug("motion.motion_cnt %s", motion.motion_cnt)
# モーションのあるキーのINDEX
motion_indexes = {}
# 1F分のモーション情報
for n in range(motion.motion_cnt):
frame = VmdBoneFrame()
frame.key = True
frame.read = True
# ボーン ----------------------
# ボーン名
bone_bname, bone_name = self.read_text(15)
frame.name = bone_bname
frame.format_name = bone_name
logger.debug("name: %s, format_name %s", bone_bname, bone_name)
# フレームIDX
frame.frame = self.read_uint(4)
logger.debug("frame.frame %s", frame.frame)
# 位置X,Y,Z
frame.position = self.read_Vector3D()
logger.debug("frame.position %s", frame.position)
# オリジナルを保持
frame.org_position = copy.deepcopy(frame.position)
# 回転X,Y,Z,scalar
frame.rotation = self.read_Quaternion()
logger.debug("frame.rotation %s", frame.rotation)
logger.debug("frame.rotation.euler %s", frame.rotation.toEulerAngles())
# オリジナルを保持
frame.org_rotation = copy.deepcopy(frame.rotation)
# 補間曲線
frame.complement = list(self.unpack(64, "64B", True))
logger.debug("complement %s", frame.complement)
# オリジナルの補間曲線を保持しておく
frame.org_complement = copy.deepcopy(frame.complement)
logger.debug("org_complement %s", frame.org_complement)
if bone_name not in motion.frames:
# まだ辞書にない場合、配列追加
motion.frames[bone_name] = []
motion_indexes[bone_name] = {}
is_not_existed = True
if frame.frame in motion_indexes[bone_name]:
is_not_existed = False
# 辞書の該当部分にボーンフレームを追加
if is_not_existed == True:
motion.frames[bone_name].append(frame)
motion_indexes[bone_name][frame.frame] = frame.frame
if frame.frame > motion.last_motion_frame:
# 最終フレームを記録
motion.last_motion_frame = frame.frame
if n % 10000 == 0:
print("VMDモーション読み込み キー: %s" % n)
# ソート
for k, v in motion.frames.items():
motion.frames[k] = sorted(v, key=lambda u: u.frame)
# モーフ数
motion.morph_cnt = self.read_uint(4)
logger.debug("motion.morph_cnt %s", motion.morph_cnt)
# モーションのあるキーのINDEX
morph_indexes = {}
# 1F分のモーフ情報
for n in range(motion.morph_cnt):
morph = VmdMorphFrame()
# ボーン ----------------------
# ボーン名
morph_bname, morph_name = self.read_text(15)
morph.name = morph_bname
morph.format_name = morph_name
logger.debug("name: %s, format_name %s", morph_bname, morph_name)
# フレームIDX
morph.frame = self.read_uint(4)
logger.debug("morph.frame %s", morph.frame)
# 度数
morph.ratio = self.read_float(4)
logger.debug("morph.ratio %s", morph.ratio)
if morph_name not in motion.morphs:
# まだ辞書にない場合、配列追加
motion.morphs[morph_name] = []
morph_indexes[morph_name] = {}
is_not_existed = True
if morph.frame in morph_indexes[morph_name]:
is_not_existed = False
if is_not_existed == True:
# まだなければ辞書の該当部分にモーフフレームを追加
motion.morphs[morph_name].append(morph)
morph_indexes[morph_name][morph.frame] = morph.frame
if n % 1000 == 0:
print("VMDモーション読み込み モーフ: %s" % n)
# ソート
for k, v in motion.morphs.items():
motion.morphs[k] = sorted(v, key=lambda u: u.frame)
# カメラ数
motion.camera_cnt = self.read_uint(4)
logger.debug("motion.camera_cnt %s", motion.camera_cnt)
# 1F分のカメラ情報
for _ in range(motion.camera_cnt):
camera = VmdCameraFrame()
# フレームIDX
camera.frame = self.read_uint(4)
logger.debug("camera.frame %s", camera.frame)
# 距離
camera.length = self.read_float(4)
logger.debug("camera.length %s", camera.length)
# 位置X,Y,Z
camera.position = self.read_Vector3D()
logger.debug("camera.position %s", camera.position)
# 角度（オイラー角）
camera.euler = self.read_Vector3D()
logger.debug("camera.euler %s", camera.euler)
# 補間曲線
camera.complement = self.unpack(24, "24B", True)
logger.debug("camera.complement %s", camera.complement)
# 視野角
camera.angle = self.read_uint(4)
logger.debug("camera.angle %s", camera.angle)
# パース有無
camera.perspective = self.unpack(1, "B")
logger.debug("camera.perspective %s", camera.perspective)
# カメラを追加
motion.cameras.append(camera)
# ソート
motion.cameras = sorted(motion.cameras, key=lambda u: u.frame)
# 照明数
try:
motion.light_cnt = self.read_uint(4)
logger.debug("motion.light_cnt %s", motion.light_cnt)
except Exception as e:
# 情報がない場合、catchして握りつぶす
motion.light_cnt = 0
# 1F分の照明情報
for _ in range(motion.light_cnt):
light = VmdLightFrame()
# フレームIDX
light.frame = self.read_uint(4)
logger.debug("light.frame %s", light.frame)
# 照明色(RGBだが、下手に数値が変わるのも怖いのでV3D)
light.color = self.read_Vector3D()
logger.debug("light.color %s", light.color)
# 照明位置
light.position = self.read_Vector3D()
logger.debug("light.position %s", light.position)
# 追加
motion.lights.append(light)
# セルフシャドウ数
try:
motion.shadow_cnt = self.read_uint(4)
logger.debug("motion.shadow_cnt %s", motion.shadow_cnt)
# 1F分のシャドウ情報
for _ in range(motion.shadow_cnt):
shadow = VmdShadowFrame()
# フレームIDX
shadow.frame = self.read_uint(4)
logger.debug("shadow.frame %s", shadow.frame)
# シャドウ種別
shadow.type = self.read_uint(1)
logger.debug("shadow.type %s", shadow.type)
# 距離
shadow.distance = self.read_float()
logger.debug("shadow.distance %s", shadow.distance)
# 追加
motion.shadows.append(shadow)
except Exception as e:
# 情報がない場合、catchして握りつぶす
motion.shadow_cnt = 0
# IK数
try:
motion.ik_cnt = self.read_uint(4)
logger.debug("motion.ik_cnt %s", motion.ik_cnt)
# 1F分のIK情報
for _ in range(motion.ik_cnt):
ik = VmdShowIkFrame()
# フレームIDX
ik.frame = self.read_uint(4)
logger.debug("ik.frame %s", ik.frame)
# モデル表示, 0:OFF, 1:ON
ik.show = self.read_uint(1)
logger.debug("ik.show %s", ik.show)
# 記録するIKの数
ik.ik_count = self.read_uint(4)
logger.debug("ik.ik_count %s", ik.ik_count)
for _ in range(ik.ik_count):
ik_info = VmdInfoIk()
# IK名
ik_bname, ik_name = self.read_text(20)
ik_info.name = ik_bname
logger.debug("ik_info.name %s", ik_name)
# モデル表示, 0:OFF, 1:ON
ik_info.onoff = self.read_uint(1)
logger.debug("ik_info.onoff %s", ik_info.onoff)
ik.ik.append(ik_info)
# 追加
motion.showiks.append(ik)
except Exception as e:
# 昔のMMD（MMDv7.39.x64以前）はIK情報がないため、catchして握りつぶす
motion.ik_cnt = 0
# ハッシュを設定
motion.digest = self.hexdigest(filepath)
logger.debug("motion: %s, hash: %s", motion.path, motion.digest)
return motion
def test_reset_complement_06(self):
# モーションの宣言
motion = VmdMotion()
motion.frames["左手首"] = []
bf = VmdBoneFrame()
bf.format_name = "左手首"
bf.frame = 0
bf.read = True
bf.key = True
for r in utils.R_x1_idxs:
bf.complement[r] = 10
for r in utils.R_y1_idxs:
bf.complement[r] = 10
for r in utils.R_x2_idxs:
bf.complement[r] = 10
for r in utils.R_y2_idxs:
bf.complement[r] = 10
motion.frames["左手首"].append(bf)
bf = VmdBoneFrame()
bf.format_name = "左手首"
bf.frame = 5
bf.read = True
# 間に有効キーあり
bf.key = True
for r in utils.R_x1_idxs:
bf.complement[r] = 30
for r in utils.R_y1_idxs:
bf.complement[r] = 30
for r in utils.R_x2_idxs:
bf.complement[r] = 30
for r in utils.R_y2_idxs:
bf.complement[r] = 30
motion.frames["左手首"].append(bf)
bf = VmdBoneFrame()
bf.format_name = "左手首"
bf.frame = 10
bf.read = False
# 有効キーの次に無効キー
bf.key = False
for r in utils.R_x1_idxs:
bf.complement[r] = 30
for r in utils.R_y1_idxs:
bf.complement[r] = 30
for r in utils.R_x2_idxs:
bf.complement[r] = 30
for r in utils.R_y2_idxs:
bf.complement[r] = 30
motion.frames["左手首"].append(bf)
bf = VmdBoneFrame()
bf.format_name = "左手首"
bf.frame = 15
bf.read = False
# 2つ目の有効キー
bf.key = True
for r in utils.R_x1_idxs:
bf.complement[r] = 30
for r in utils.R_y1_idxs:
bf.complement[r] = 30
for r in utils.R_x2_idxs:
bf.complement[r] = 30
for r in utils.R_y2_idxs:
bf.complement[r] = 30
motion.frames["左手首"].append(bf)
bf = VmdBoneFrame()
bf.format_name = "左手首"
bf.frame = 30
bf.read = True
bf.key = True
for r in utils.R_x1_idxs:
bf.complement[r] = 10
for r in utils.R_y1_idxs:
bf.complement[r] = 10
for r in utils.R_x2_idxs:
bf.complement[r] = 20
for r in utils.R_y2_idxs:
bf.complement[r] = 20
motion.frames["左手首"].append(bf)
# 腕リストの宣言
arm_links = self.create_arm_links()
# 処理実施
sub_arm_ik.reset_complement(motion, arm_links)
# ---------------------------------
# 前回の開始X
for r in utils.R_x1_idxs:
self.assertEqual(10, motion.frames["左手首"][0].complement[r])
# 前回の開始Y
for r in utils.R_y1_idxs:
self.assertEqual(10, motion.frames["左手首"][0].complement[r])
# 前回の終了X
for r in utils.R_x2_idxs:
self.assertEqual(10, motion.frames["左手首"][0].complement[r])
# 前回の終了Y
for r in utils.R_y2_idxs:
self.assertEqual(10, motion.frames["左手首"][0].complement[r])
# ---------------------------------
# 今回の開始X
for r in utils.R_x1_idxs:
self.assertEqual(30, motion.frames["左手首"][1].complement[r])
# 今回の開始Y
for r in utils.R_y1_idxs:
self.assertEqual(30, motion.frames["左手首"][1].complement[r])
# 今回の終了X
for r in utils.R_x2_idxs:
self.assertEqual(30, motion.frames["左手首"][1].complement[r])
# 今回の終了Y
for r in utils.R_y2_idxs:
self.assertEqual(30, motion.frames["左手首"][1].complement[r])
# ---------------------------------
# 無効次回の開始X
for r in utils.R_x1_idxs:
self.assertEqual(30, motion.frames["左手首"][2].complement[r])
# 無効次回の開始Y
for r in utils.R_y1_idxs:
self.assertEqual(30, motion.frames["左手首"][2].complement[r])
# 無効次回の終了X
for r in utils.R_x2_idxs:
self.assertEqual(30, motion.frames["左手首"][2].complement[r])
# 無効次回の終了Y
for r in utils.R_y2_idxs:
self.assertEqual(30, motion.frames["左手首"][2].complement[r])
# ---------------------------------
# 有効次回の開始X
for r in utils.R_x1_idxs:
self.assertEqual(17, motion.frames["左手首"][3].complement[r])
# 有効次回の開始Y
for r in utils.R_y1_idxs:
self.assertEqual(17, motion.frames["左手首"][3].complement[r])
# 有効次回の終了X
for r in utils.R_x2_idxs:
self.assertEqual(34, motion.frames["左手首"][3].complement[r])
# 有効次回の終了Y
for r in utils.R_y2_idxs:
self.assertEqual(34, motion.frames["左手首"][3].complement[r])
# ---------------------------------
# 次回の開始X
for r in utils.R_x1_idxs:
self.assertEqual(29, motion.frames["左手首"][4].complement[r])
# 次回の開始Y
for r in utils.R_y1_idxs:
self.assertEqual(29, motion.frames["左手首"][4].complement[r])
# 次回の終了X
for r in utils.R_x2_idxs:
self.assertEqual(70, motion.frames["左手首"][4].complement[r])
# 次回の終了Y
for r in utils.R_y2_idxs:
self.assertEqual(70, motion.frames["左手首"][4].complement[r])
def calc_bone_by_complement(frames, bone_name, frameno):
fillbf = VmdBoneFrame()
# ボーン登録がなければ初期値
if bone_name not in frames:
return fillbf
for bidx, bf in enumerate(frames[bone_name]):
if bf.frame >= frameno:
# 前のキーIDXを0に見立てて、その間の補間曲線を埋める
fillbf.name = bf.name
fillbf.frame = frameno
# 実際に登録はしない
fillbf.key = False
# 指定されたフレーム以降
prev_bf = frames[bone_name][bidx - 1]
if prev_bf.rotation != bf.rotation:
# 回転補間曲線
rn = calc_interpolate_bezier(bf.complement[48],
bf.complement[52],
bf.complement[56],
bf.complement[60], prev_bf.frame,
bf.frame, fillbf.frame)
fillbf.rotation = QQuaternion.nlerp(prev_bf.rotation,
bf.rotation, rn)
# logger.debug("key: %s, n: %s, rn: %s, r: %s ", k, prev_frame + n, rn, QQuaternion.nlerp(prev_bf.rotation, bf.rotation, rn) )
# logger.debug("rotation: prev: %s, fill: %s ", prev_bf.rotation.toEulerAngles(), fillbf.rotation.toEulerAngles() )
else:
fillbf.rotation = copy.deepcopy(prev_bf.rotation)
# 補間曲線を元に間を埋める
if prev_bf.position != bf.position:
# http://rantyen.blog.fc2.com/blog-entry-65.html
# X移動補間曲線
xn = calc_interpolate_bezier(bf.complement[0],
bf.complement[4],
bf.complement[8],
bf.complement[12], prev_bf.frame,
bf.frame, fillbf.frame)
# Y移動補間曲線
yn = calc_interpolate_bezier(bf.complement[16],
bf.complement[20],
bf.complement[24],
bf.complement[28], prev_bf.frame,
bf.frame, fillbf.frame)
# Z移動補間曲線
zn = calc_interpolate_bezier(bf.complement[32],
bf.complement[36],
bf.complement[40],
bf.complement[44], prev_bf.frame,
bf.frame, fillbf.frame)
fillbf.position.setX(prev_bf.position.x() + (
(bf.position.x() - prev_bf.position.x()) * xn))
fillbf.position.setY(prev_bf.position.y() + (
(bf.position.y() - prev_bf.position.y()) * yn))
fillbf.position.setZ(prev_bf.position.z() + (
(bf.position.z() - prev_bf.position.z()) * zn))
# logger.debug("key: %s, n: %s, xn: %s, yn: %s, zn: %s, xa: %s", k, prev_frame + n, xn, yn, zn, ( bf.position.x() - prev_bf.position.x()) * xn )
# logger.debug("position: prev: %s, fill: %s ", prev_bf.position, fillbf.position )
else:
fillbf.position = copy.deepcopy(prev_bf.position)
# logger.debug("position stop: %s,%s prev: %s, fill: %s ", prev_frame + n, k, prev_bf.position, bf.position )
return fillbf
# 最後まで行っても見つからなければ、最終項目を返す
return copy.deepcopy(frames[bone_name][-1])
def position_to_frame(bone_frame_dic, pos, pos_gan, smoothed_2d, frame,
is_upper2_body, slope_motion):
logger.debug("角度計算 frame={0}".format(str(frame)))
# 体幹の回転
upper_body_rotation1, upper_body_rotation2, upper_correctqq, lower_body_rotation, lower_correctqq, is_gan \
= position_to_frame_trunk(bone_frame_dic, frame, pos, pos_gan, is_upper2_body, slope_motion)
# 上半身
bf = VmdBoneFrame(frame)
bf.name = b'\x8f\xe3\x94\xbc\x90\x67' # '上半身'
bf.rotation = upper_body_rotation1
bone_frame_dic["上半身"].append(bf)
# 上半身2(角度がある場合のみ登録)
if upper_body_rotation2 != QQuaternion():
bf = VmdBoneFrame(frame)
bf.name = b'\x8f\xe3\x94\xbc\x90\x67\x32' # '上半身2'
bf.rotation = upper_body_rotation2
bone_frame_dic["上半身2"].append(bf)
# 下半身
bf = VmdBoneFrame(frame)
bf.name = b'\x89\xba\x94\xbc\x90\x67' # '下半身'
bf.rotation = lower_body_rotation
bone_frame_dic["下半身"].append(bf)
# 頭の方向の安定化のためNeck/NoseとHeadを20mm前へ動かす(LSld, RSld, Hipでできる平面の垂直方向へ動かす)
up = QVector3D.crossProduct((pos[0] - pos[14]),
(pos[14] - pos[11])).normalized()
pos[9] += up * 20
pos[10] += up * 20
neck_rotation, head_rotation = \
position_to_frame_head(frame, pos, pos_gan, upper_body_rotation1, upper_body_rotation2, upper_correctqq, is_gan, slope_motion)
# 首
bf = VmdBoneFrame(frame)
bf.name = b'\x8e\xf1' # '首'
bf.rotation = neck_rotation
bone_frame_dic["首"].append(bf)
# 頭
bf = VmdBoneFrame(frame)
bf.name = b'\x93\xaa' # '頭'
bf.rotation = head_rotation
bone_frame_dic["頭"].append(bf)
# 左肩の初期値
gan_left_shoulder_initial_orientation = QQuaternion.fromDirection(
QVector3D(1, 0, 0), QVector3D(0, 1, 0))
left_shoulder_initial_orientation = QQuaternion.fromDirection(
QVector3D(2, -0.8, 0), QVector3D(0.5, -0.5, -1))
left_arm_initial_orientation = QQuaternion.fromDirection(
QVector3D(1.73, -1, 0), QVector3D(1, 1.73, 0))
# 左手系の回転
left_shoulder_rotation, left_arm_rotation, left_elbow_rotation = \
position_to_frame_arm_one_side(frame, pos, pos_gan, upper_correctqq, upper_body_rotation1, upper_body_rotation2, gan_left_shoulder_initial_orientation, left_shoulder_initial_orientation, left_arm_initial_orientation, LEFT_POINT, is_gan, slope_motion, "左")
# 左肩
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x8C\xA8' # '左肩'
bf.rotation = left_shoulder_rotation
bone_frame_dic["左肩"].append(bf)
# 左腕
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x98\x72' # '左腕'
bf.rotation = left_arm_rotation
bone_frame_dic["左腕"].append(bf)
# 左ひじ
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x82\xd0\x82\xb6' # '左ひじ'
bf.rotation = left_elbow_rotation
bone_frame_dic["左ひじ"].append(bf)
# 右肩の初期値
gan_right_shoulder_initial_orientation = QQuaternion.fromDirection(
QVector3D(-1, 0, 0), QVector3D(0, -1, 0))
right_shoulder_initial_orientation = QQuaternion.fromDirection(
QVector3D(-2, -0.8, 0), QVector3D(0.5, 0.5, 1))
right_arm_initial_orientation = QQuaternion.fromDirection(
QVector3D(-1.73, -1, 0), QVector3D(1, -1.73, 0))
# 右手系の回転
right_shoulder_rotation, right_arm_rotation, right_elbow_rotation = \
position_to_frame_arm_one_side(frame, pos, pos_gan, upper_correctqq, upper_body_rotation1, upper_body_rotation2, gan_right_shoulder_initial_orientation, right_shoulder_initial_orientation, right_arm_initial_orientation, RIGHT_POINT, is_gan, slope_motion, "右")
# 右肩
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x8C\xA8' # '右肩'
bf.rotation = right_shoulder_rotation
bone_frame_dic["右肩"].append(bf)
# 右腕
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x98\x72' # '右腕'
bf.rotation = right_arm_rotation
bone_frame_dic["右腕"].append(bf)
# 右ひじ
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x82\xd0\x82\xb6' # '右ひじ'
bf.rotation = right_elbow_rotation
bone_frame_dic["右ひじ"].append(bf)
# 左足と左ひざの回転
left_leg_rotation, left_knee_rotation = \
position_to_frame_leg_one_side(frame, pos, pos_gan, lower_correctqq, lower_body_rotation, LEFT_POINT, ["左足", "左ひざ"], is_gan, slope_motion, "左")
# 膝がまっすぐのときつま先が不自然に回転することがあり、対策のため膝を20mmから100mm前へ移動する
leg_v = left_leg_rotation.toVector4D()
leg_x = leg_v.x()
leg_y = leg_v.y()
leg_z = leg_v.z()
leg_w = leg_v.w()
m20 = 2.0 * leg_x * leg_z + 2.0 * leg_w * leg_y
m22 = 1.0 - 2.0 * leg_x * leg_x - 2.0 * leg_y * leg_y
ty = -math.degrees(math.atan2(m20, m22)) # 左脚の角度y
# RHip, LHip, LFootでできる平面の垂直方向へ移動
up = QVector3D.crossProduct((pos[6] - pos[4]),
(pos[4] - pos[1])).normalized()
# 左足の回転が大きいほど膝の移動量を増やす(20mmから100mm)
pos[5] -= up * (20 + 80 * abs(ty) / 180.0)
# 左足と左ひざの回転の再計算
left_leg_rotation, left_knee_rotation = \
position_to_frame_leg_one_side(frame, pos, pos_gan, lower_correctqq, lower_body_rotation, LEFT_POINT, ["左足", "左ひざ"], is_gan, slope_motion, "左")
# 左足
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x91\xab' # '左足'
bf.rotation = left_leg_rotation
bone_frame_dic["左足"].append(bf)
# 左ひざ
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x82\xd0\x82\xb4' # '左ひざ'
bf.rotation = left_knee_rotation
bone_frame_dic["左ひざ"].append(bf)
# 右足と右ひざの回転
right_leg_rotation, right_knee_rotation = \
position_to_frame_leg_one_side(frame, pos, pos_gan, lower_correctqq, lower_body_rotation, RIGHT_POINT, ["右足", "右ひざ"], is_gan, slope_motion, "右")
# 膝がまっすぐのときつま先が不自然に回転することがあり、対策のため膝を20mmから100mm前へ移動する
leg_v = right_leg_rotation.toVector4D()
leg_x = leg_v.x()
leg_y = leg_v.y()
leg_z = leg_v.z()
leg_w = leg_v.w()
m20 = 2.0 * leg_x * leg_z + 2.0 * leg_w * leg_y
m22 = 1.0 - 2.0 * leg_x * leg_x - 2.0 * leg_y * leg_y
# 右足の角度y
ty = -math.degrees(math.atan2(m20, m22))
# LHip, RHip, RFootでできる平面の垂直方向へ移動
up = QVector3D.crossProduct((pos[3] - pos[1]),
(pos[1] - pos[4])).normalized()
# 右足の回転が大きいほど膝の移動量を増やす(20mmから100mm)
pos[2] += up * (20 + 80 * abs(ty) / 180.0)
# 右足と右ひざの回転の再計算
right_leg_rotation, right_knee_rotation = \
position_to_frame_leg_one_side(frame, pos, pos_gan, lower_correctqq, lower_body_rotation, RIGHT_POINT, ["右足", "右ひざ"], is_gan, slope_motion, "右")
# 右足
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x91\xab' # '右足'
bf.rotation = right_leg_rotation
bone_frame_dic["右足"].append(bf)
# 右ひざ
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x82\xd0\x82\xb4' # '右ひざ'
bf.rotation = right_knee_rotation
bone_frame_dic["右ひざ"].append(bf)
# センター(箱だけ作る)
bf = VmdBoneFrame(frame)
bf.name = b'\x83\x5A\x83\x93\x83\x5E\x81\x5B' # 'センター'
bone_frame_dic["センター"].append(bf)
# グルーブ(箱だけ作る)
bf = VmdBoneFrame(frame)
bf.name = b'\x83\x4F\x83\x8B\x81\x5B\x83\x75' # 'グルーブ'
bone_frame_dic["グルーブ"].append(bf)
# 左足ＩＫ
bf = VmdBoneFrame(frame)
bf.name = b'\x8d\xb6\x91\xab\x82\x68\x82\x6a' # '左足ＩＫ'
bone_frame_dic["左足ＩＫ"].append(bf)
# 右足ＩＫ
bf = VmdBoneFrame(frame)
bf.name = b'\x89\x45\x91\xab\x82\x68\x82\x6a' # '右足ＩＫ'
bone_frame_dic["右足ＩＫ"].append(bf)