def setObjectRotationQuaternion(obj: bpy.types.Object, rot: Quaternion):
if obj.rotation_mode == "QUATERNION":
obj.rotation_quaternion = rot
elif obj.rotation_mode == "AXIS_ANGLE":
obj.rotation_axis_angle = rot.to_axis_angle()
else:
obj.rotation_euler = rot.to_euler(obj.rotation_mode)
def test_from_expmap(self):
e = Vector((1, 1, 0))
q = Quaternion(e)
axis, angle = q.to_axis_angle()
self.assertAlmostEqual(angle, math.sqrt(2), 6)
self.assertAlmostEqual(axis.x, math.sqrt(0.5), 6)
self.assertAlmostEqual(axis.y, math.sqrt(0.5), 6)
self.assertAlmostEqual(axis.z, 0)
def test_from_expmap(self):
e = Vector((1, 1, 0))
q = Quaternion(e)
axis, angle = q.to_axis_angle()
self.assertAlmostEqual(angle, math.sqrt(2), 6)
self.assertAlmostEqual(axis.x, math.sqrt(0.5), 6)
self.assertAlmostEqual(axis.y, math.sqrt(0.5), 6)
self.assertAlmostEqual(axis.z, 0)
def extract_current_pose():
"""
Convert current object's pose to OpenCV's "rvec" and "tvec".
"""
ob = bpy.context.object
if ob.rotation_mode == "QUATERNION":
q = ob.rotation_quaternion
elif ob.rotation_mode == "AXIS_ANGLE":
q = Quaternion(ob.rotation_axis_angle[1:4], ob.rotation_axis_angle[0])
else:
assert ob.rotation_mode in ("XYZ", "XZY", "YXZ", "YZX", "ZXY", "ZYX")
q = ob.rotation_euler.to_quaternion()
# Rotate 180 deg around local X because a blender camera has Y and Z axes opposite to OpenCV's
q *= Quaternion((1.0, 0.0, 0.0), radians(180.0))
aa = q.to_axis_angle()
rvec = [c * -aa[1] for c in aa[0]]
tvec = list(q.inverted() * (-ob.location))
return rvec, tvec
def extract_current_pose():
"""
Convert current object's pose to OpenCV's "rvec" and "tvec".
"""
ob = bpy.context.object
if ob.rotation_mode == "QUATERNION":
q = ob.rotation_quaternion
elif ob.rotation_mode == "AXIS_ANGLE":
q = Quaternion(ob.rotation_axis_angle[1:4], ob.rotation_axis_angle[0])
else:
assert ob.rotation_mode in ("XYZ", "XZY", "YXZ", "YZX", "ZXY", "ZYX")
q = ob.rotation_euler.to_quaternion()
# Rotate 180 deg around local X because a blender camera has Y and Z axes opposite to OpenCV's
q *= Quaternion((1.0, 0.0, 0.0), radians(180.0))
aa = q.to_axis_angle()
rvec = [c * -aa[1] for c in aa[0]]
tvec = list(q.inverted() * (-ob.location))
return rvec, tvec
def invoke(self, context, event):
if context.scene.awc_is_preview:
bpy.ops.armature.walk_cycle_preview('INVOKE_DEFAULT')
rig = context.object
awc = rig.data.aut_walk_cycle
torso = awc.torso
l_foot = awc.l_foot_ik
r_foot = awc.r_foot_ik
torso_obj = rig.pose.bones[torso]
torso_dat = rig.data.bones[torso]
mtdat = torso_dat.matrix_local.copy()
step_by_frames = awc.step_by_frames
if step_by_frames:
dist = awc.step_frames / 2
else:
dist = awc.step / 4
fr_start = awc.frame_start
fr_end = awc.frame_end
if awc.anim:
try:
fc = rig.animation_data.action.fcurves
except Exception as e:
print(e)
return {'FINISHED'}
rot_mode = torso_obj.rotation_mode
if rot_mode == 'QUATERNION':
rtype = '.rotation_quaternion'
elif rot_mode == 'AXIS_ANGLE':
rtype = '.rotation_axis_angle'
else:
rtype = '.rotation_euler'
dp = 'pose.bones["%s"]' % torso
fc_loc = {}
fc_rot = {}
for _fc in fc:
if dp in _fc.data_path:
ldp = _fc.data_path
type = ldp[ldp.rfind("."):]
if type == '.location':
fc_loc[_fc.array_index] = _fc
elif type == rtype:
fc_rot[_fc.array_index] = _fc
seq = []
for fr in range(fr_start, fr_end + 1):
vec = Vector((fc_loc[0].evaluate(fr) if 0 in fc_loc else 0,
fc_loc[1].evaluate(fr) if 1 in fc_loc else 0,
fc_loc[2].evaluate(fr) if 2 in fc_loc else 0))
if fr in {fr_start, fr_end}:
d = dist
else:
if step_by_frames:
d = fr - lframe
else:
d = (lvec - vec).length
if d >= dist:
if rot_mode == 'QUATERNION':
rot = Quaternion(
(fc_rot[0].evaluate(fr) if 0 in fc_rot else 1,
fc_rot[1].evaluate(fr) if 1 in fc_rot else 0,
fc_rot[2].evaluate(fr) if 2 in fc_rot else 0,
fc_rot[3].evaluate(fr)
if 3 in fc_rot else 0)).normalized()
elif rot_mode == 'AXIS_ANGLE':
rot = Quaternion(
(fc_rot[1].evaluate(fr) if 1 in fc_rot else 0,
fc_rot[2].evaluate(fr) if 2 in fc_rot else 1,
fc_rot[3].evaluate(fr) if 3 in fc_rot else 0),
fc_rot[0].evaluate(fr)
if 0 in fc_rot else 0).normalized()
else:
rot = Euler(
(fc_rot[0].evaluate(fr) if 0 in fc_rot else 0,
fc_rot[1].evaluate(fr) if 1 in fc_rot else 0,
fc_rot[2].evaluate(fr) if 2 in fc_rot else 0),
rot_mode)
mt = Matrix.Translation(vec)
mr = rot.to_matrix()
mbasis = mt * mr.to_4x4()
mat = mtdat * mbasis * mtdat.inverted()
seq.append((fr, mat))
lvec = vec
lframe = fr
f_curves = {}
for col_bone in set(awc.new_bones.keys()):
if col_bone:
dp_loc = 'pose.bones["%s"].location' % col_bone
rot_mode = rig.pose.bones[col_bone].rotation_mode
if rot_mode == 'QUATERNION':
dp_rot = 'pose.bones["%s"].rotation_quaternion' % col_bone
size = 4
elif rot_mode == 'AXIS_ANGLE':
dp_rot = 'pose.bones["%s"].rotation_axis_angle' % col_bone
size = 4
else:
dp_rot = 'pose.bones["%s"].rotation_euler' % col_bone
size = 3
f_curves[col_bone] = (find_remove_keys(
fc, dp_loc, 3, fr_start, fr_end),
find_remove_keys(
fc, dp_rot, size, fr_start,
fr_end))
### feet ###
l_foot_ik = rig.pose.bones[l_foot]
r_foot_ik = rig.pose.bones[r_foot]
dp_loc = 'pose.bones["%s"].location' % l_foot
fc_lf = find_remove_keys(fc, dp_loc, 3, fr_start, fr_end)
rot_modl = l_foot_ik.rotation_mode
if rot_modl == 'QUATERNION':
dp_rot = 'pose.bones["%s"].rotation_quaternion' % l_foot
size = 4
elif rot_modl == 'AXIS_ANGLE':
dp_rot = 'pose.bones["%s"].rotation_axis_angle' % l_foot
size = 4
else:
dp_rot = 'pose.bones["%s"].rotation_euler' % l_foot
size = 3
fcqua_lf = find_remove_keys(fc, dp_rot, size, fr_start, fr_end)
dp_loc = 'pose.bones["%s"].location' % r_foot
fc_rf = find_remove_keys(fc, dp_loc, 3, fr_start, fr_end)
rot_modr = r_foot_ik.rotation_mode
if rot_modr == 'QUATERNION':
dp_rot = 'pose.bones["%s"].rotation_quaternion' % r_foot
size = 4
elif rot_modr == 'AXIS_ANGLE':
dp_rot = 'pose.bones["%s"].rotation_axis_angle' % r_foot
size = 4
else:
dp_rot = 'pose.bones["%s"].rotation_euler' % r_foot
size = 3
fcqua_rf = find_remove_keys(fc, dp_rot, size, fr_start, fr_end)
del size, dp_loc, dp_rot
lf_dat = rig.data.bones[l_foot]
rf_dat = rig.data.bones[r_foot]
#m_lo_lf = lf_dat.matrix_local.copy()
#m_lo_rf = rf_dat.matrix_local.copy()
mdef = lf_dat.matrix_local.copy(), rf_dat.matrix_local.copy()
use_local = lf_dat.use_local_location, rf_dat.use_local_location
fc_loc = fc_lf, fc_rf
fc_qua = fcqua_lf, fcqua_rf
rot_mode = rot_modl, rot_modr
up_axis = awc.up_axis.copy()
up_axis.rotate(mtdat)
side_axis = awc.side_axis.copy()
side_axis.rotate(mtdat)
openness = awc.openness
amp = awc.amp
ant = 1 - awc.anticipation
fo_rot = awc.foot_rot
right = True
for i, tp in enumerate(seq):
fr_f = i % 2 # 01010101010101010101
fr, mat = tp
try:
fr2, mat2 = seq[i + 1]
except:
fr2, mat2 = seq[i]
try:
fr3, mat3 = seq[i + 2]
except:
fr3, mat3 = fr2, mat2
#obj_empty = bpy.data.objects.new("Test", None)
#context.scene.objects.link(obj_empty)
#obj_empty.matrix_world = mat
#obj_empty.empty_draw_type = 'ARROWS'
#obj_empty.empty_draw_size = .3
if not fr_f:
right = not right # 0011001100110011001100
matf = mat.lerp(mat3, ant)
for f in range(2):
#matc = matf.copy()
mat_loc = mdef[f].copy()
if f - right: # foot down
mat_loc.translation += (2 * f -
1) * openness * side_axis
#mat_glo = matf * mat_loc
mat_bas = mdef[f].inverted() * matf * mat_loc
if not use_local[f]:
mat_bas.translation.rotate(mdef[f])
#mat_bas = Matrix.Translation(-mdef[f].translation) * matf * Matrix.Translation(mdef[f].translation + (2*f - 1) * openness * side_axis)
loc, qua, _ = mat_bas.decompose()
# LOCATION DW
for ax, fcl in enumerate(fc_loc[f]):
fcl.keyframe_points.add(2)
fcl.keyframe_points[
-2].interpolation = 'BEZIER'
fcl.keyframe_points[
-2].handle_right_type = 'VECTOR'
fcl.keyframe_points[
-2].handle_left_type = 'VECTOR'
fcl.keyframe_points[-2].co = fr, loc[ax]
fcl.keyframe_points[
-1].interpolation = 'BEZIER'
fcl.keyframe_points[
-1].handle_right_type = 'VECTOR'
fcl.keyframe_points[
-1].handle_left_type = 'VECTOR'
fcl.keyframe_points[-1].co = fr3, loc[ax]
# ROTATION DW
axis = mdef[f].inverted(
) * side_axis # FOOT LOCAL SIDE_AXIS
rot1 = qua * Quaternion(axis, ant * fo_rot)
rot2 = qua * Quaternion(axis, (ant - 1) * fo_rot)
dif_fr = fr3 - fr
f1 = fr3 - dif_fr * (1 - ant / 2)
f2 = fr3 - dif_fr * (1 - (2 + ant) / 3)
if rot_mode[f] == 'QUATERNION':
pass
elif rot_mode[f] == 'AXIS_ANGLE':
qua = qua.to_axis_angle()
qua = qua[1], qua[0][0], qua[0][1], qua[0][2]
rot1 = rot1.to_axis_angle()
rot1 = rot1[1], rot1[0][0], rot1[0][1], rot1[
0][2]
rot2 = rot2.to_axis_angle()
rot2 = rot2[1], rot2[0][0], rot2[0][1], rot2[
0][2]
else:
qua = qua.to_euler(rot_mode[f])
rot1 = rot1.to_euler(rot_mode[f], qua)
rot2 = rot2.to_euler(rot_mode[f], qua)
for ax, fcq in enumerate(fc_qua[f]):
fcq.keyframe_points.add(4)
fcq.keyframe_points[
-4].interpolation = 'LINEAR'
fcq.keyframe_points[
-3].interpolation = 'LINEAR'
fcq.keyframe_points[
-2].interpolation = 'LINEAR'
fcq.keyframe_points[
-1].interpolation = 'LINEAR'
fcq.keyframe_points[-4].co = fr, rot1[ax]
fcq.keyframe_points[-3].co = f1, qua[ax]
fcq.keyframe_points[-2].co = f2, qua[ax]
fcq.keyframe_points[-1].co = fr3, rot2[ax]
else:
mat_loc.translation += amp * up_axis
mat_bas = mdef[f].inverted() * matf * mat_loc
if not use_local[f]:
mat_bas.translation.rotate(mdef[f])
#loc, qua, _ = mat_bas.decompose()
loc = mat_bas.translation
# LOCATION UP
for ax, fcl in enumerate(fc_loc[f]):
fcl.keyframe_points.add(1)
fcl.keyframe_points[
-1].interpolation = 'BEZIER'
fcl.keyframe_points[
-1].handle_right_type = 'AUTO'
fcl.keyframe_points[
-1].handle_left_type = 'AUTO'
fcl.keyframe_points[-1].co = fr2, loc[ax]
# ROTATION UP
#for ax, fcq in enumerate(fc_qua[f]):
# fcq.keyframe_points.add(1)
# fcq.keyframe_points[-1].interpolation = 'LINEAR'
# fcq.keyframe_points[-1].co = fr_up, qua[ax]'''
is_global = set()
for col_bone in awc.new_bones:
name = col_bone.name
if col_bone.seq_type == 'LR':
if fr_f:
lerp = .5
elif right:
lerp = 0
else:
lerp = 1
#cond = not fr_f
#cond2 = right
elif col_bone.seq_type == 'M':
if not fr_f:
lerp = .5
elif right:
lerp = 1
else:
lerp = 0
#cond = fr_f
#cond2 = right
else: #col_bone.seq_type == 'ES':
if fr_f:
lerp = 1
else:
lerp = 0
#cond = True
#cond2 = fr_f
#if cond and name:
if name:
bone = rig.pose.bones[name]
bone_dat = rig.data.bones[name]
_loc = col_bone.loc1.lerp(col_bone.loc2, lerp)
#if bone_dat.use_local_location:
#_loc.rotate(mat)
_rot = col_bone.qua1.slerp(col_bone.qua2, lerp)
#if cond2:
#_loc = col_bone.loc2
#_rot = col_bone.qua2
#else:
#_loc = col_bone.loc1
#_rot = col_bone.qua1
if col_bone.add_torso and name not in is_global:
is_global.add(name)
#print(name, 'not is torso son')
mat_loc = bone_dat.matrix_local.copy()
mat_bas = Matrix.Translation(
_loc) * _rot.to_matrix().to_4x4(
) # normalise rot ???
#mat_glo = mat*_ma_loc* _ma_bas
if bone_dat.use_local_location:
mat_bas = mat_loc.inverted(
) * mat * mat_loc * mat_bas
else:
mat_bas.translation.rotate(mat_loc)
mat_bas = mat_loc.inverted(
) * mat * mat_loc * mat_bas
mat_bas.translation.rotate(mat_loc)
_loc, _rot, _ = mat_bas.decompose()
for ax, fc in enumerate(f_curves[name][0]):
keyp = fc.keyframe_points
if keyp and keyp[-1].co.x == fr:
fc.keyframe_points[-1].co.y += _loc[
ax] # !!!!!!!!!!!!!!!!!!
else:
fc.keyframe_points.add(1)
fc.keyframe_points[-1].interpolation = 'BEZIER'
fc.keyframe_points[-1].co = fr, _loc[ax]
#fc.update()
lrot = {}
for ax, fc in enumerate(f_curves[name][1]):
keyp = fc.keyframe_points
if keyp and keyp[-1].co.x == fr:
lrot[ax] = keyp[-1].co.y
_rot_mode = bone.rotation_mode
if _rot_mode == 'QUATERNION':
lrot = Quaternion(
(lrot[0] if 0 in lrot else 1,
lrot[1] if 1 in lrot else 0,
lrot[2] if 2 in lrot else 0,
lrot[3] if 3 in lrot else 0)).normalized()
_rot = lrot * _rot
elif _rot_mode == 'AXIS_ANGLE':
lrot = Quaternion(
(lrot[1] if 1 in lrot else 0,
lrot[2] if 2 in lrot else 1,
lrot[3] if 3 in lrot else 0),
lrot[0] if 0 in lrot else 0).normalized()
_rot = lrot * _rot
_rot = _rot.to_axis_angle()
_rot = _rot[1], _rot[0][0], _rot[0][1], _rot[0][2]
else:
lrot = Euler((lrot[0] if 0 in lrot else 0,
lrot[1] if 1 in lrot else 0,
lrot[2] if 2 in lrot else 0),
_rot_mode)
_rot = lrot.to_quaternion() * _rot
_rot = _rot.to_euler(_rot_mode)
for ax, fc in enumerate(f_curves[name][1]):
keyp = fc.keyframe_points
if keyp and keyp[-1].co.x == fr:
pass
else:
fc.keyframe_points.add(1)
fc.keyframe_points[-1].interpolation = 'BEZIER'
fc.keyframe_points[-1].co = fr, _rot[ax]
for fc in fc_loc[0] + fc_loc[1]:
fc.update()
for fcl, fcr in f_curves.values():
for fc in fcl + fcr:
fc.update()
return {'FINISHED'}
else:
try:
fc = rig.animation_data.action.fcurves
except Exception as e:
rig.animation_data.action = bpy.data.actions.new("rigAction")
fc = rig.animation_data.action.fcurves
l_foot_ik = rig.pose.bones[l_foot]
r_foot_ik = rig.pose.bones[r_foot]
dp_loc = 'pose.bones["%s"].location' % l_foot
fc_lf = find_remove_keys(fc, dp_loc, 3, fr_start, fr_end)
rot_modl = l_foot_ik.rotation_mode
if rot_modl == 'QUATERNION':
dp_rot = 'pose.bones["%s"].rotation_quaternion' % l_foot
size = 4
elif rot_modl == 'AXIS_ANGLE':
dp_rot = 'pose.bones["%s"].rotation_axis_angle' % l_foot
size = 4
else:
dp_rot = 'pose.bones["%s"].rotation_euler' % l_foot
size = 3
fcqua_lf = find_remove_keys(fc, dp_rot, size, fr_start, fr_end)
dp_loc = 'pose.bones["%s"].location' % r_foot
fc_rf = find_remove_keys(fc, dp_loc, 3, fr_start, fr_end)
rot_modr = r_foot_ik.rotation_mode
if rot_modr == 'QUATERNION':
dp_rot = 'pose.bones["%s"].rotation_quaternion' % r_foot
size = 4
elif rot_modr == 'AXIS_ANGLE':
dp_rot = 'pose.bones["%s"].rotation_axis_angle' % r_foot
size = 4
else:
dp_rot = 'pose.bones["%s"].rotation_euler' % r_foot
size = 3
fcqua_rf = find_remove_keys(fc, dp_rot, size, fr_start, fr_end)
del size, dp_loc, dp_rot
lf_dat = rig.data.bones[l_foot]
rf_dat = rig.data.bones[r_foot]
#m_lo_lf = lf_dat.matrix_local.copy()
#m_lo_rf = rf_dat.matrix_local.copy()
mdef = lf_dat.matrix_local.copy(), rf_dat.matrix_local.copy()
mmdef = lf_dat.matrix.copy(), rf_dat.matrix.copy()
use_local = lf_dat.use_local_location, rf_dat.use_local_location
fc_loc = fc_lf, fc_rf
fc_qua = fcqua_lf, fcqua_rf
rot_mode = rot_modl, rot_modr
frec = awc.frequency
up_axis = awc.up_axis.copy()
up_axis.rotate(mtdat)
side_axis = awc.side_axis.copy()
side_axis.rotate(mtdat)
front_axis = awc.front_axis.copy()
front_axis.rotate(mtdat)
openness = awc.openness
amp = awc.amp
#ant = 1 - awc.anticipation
fo_rot = awc.foot_rot
right = True
ant = awc.anticipation - 1
dist = awc.step / 2
fr_start = awc.frame_start
fr_end = awc.frame_end
dif_fr = fr_end - fr_start
cycles = int(dif_fr / frec)
for c in range(cycles):
f = c % 2
fr1 = c * frec
fr2 = fr1 + frec / 2
fr3 = (c + 1) * frec
fr4 = (c + 2) * frec
s_axis = side_axis.copy()
f_axis = front_axis.copy()
u_axis = up_axis.copy()
if use_local[f]:
s_axis.rotate(mmdef[f])
f_axis.rotate(mmdef[f])
u_axis.rotate(mmdef[f])
op = (1 - 2 * f) * openness
loc2 = (
(ant * dist * f_axis) + op * s_axis) * mmdef[f].inverted()
loc1 = ((((2 * ant + 1) / 2) * dist * f_axis) +
amp * u_axis) * mmdef[f].inverted()
loc0 = (((1 + ant) * dist * f_axis) +
op * s_axis) * mmdef[f].inverted()
# LOCATION
for ax, fcl in enumerate(fc_loc[f]):
fcl.keyframe_points.add(4)
fcl.keyframe_points[-4].interpolation = 'BEZIER'
fcl.keyframe_points[-4].handle_right_type = 'VECTOR'
fcl.keyframe_points[-4].handle_left_type = 'VECTOR'
fcl.keyframe_points[-4].co = fr1, loc0[ax]
fcl.keyframe_points[-3].interpolation = 'BEZIER'
fcl.keyframe_points[-3].handle_right_type = 'AUTO'
fcl.keyframe_points[-3].handle_left_type = 'AUTO'
fcl.keyframe_points[-3].co = fr2, loc1[ax]
fcl.keyframe_points[-2].interpolation = 'BEZIER'
fcl.keyframe_points[-2].handle_right_type = 'VECTOR'
fcl.keyframe_points[-2].handle_left_type = 'VECTOR'
fcl.keyframe_points[-2].co = fr3, loc2[ax]
fcl.keyframe_points[-1].interpolation = 'BEZIER'
fcl.keyframe_points[-1].handle_right_type = 'VECTOR'
fcl.keyframe_points[-1].handle_left_type = 'VECTOR'
fcl.keyframe_points[-1].co = fr4, loc0[ax]
#mod = fcl.modifiers.new('CYCLES')
#mod.use_restricted_range = True
#mod.frame_start = fr_start
#mod.frame_end = fr_end
# ROTATION
#qua = mdef[f].to_quaternion()
qua = Quaternion((1, 0, 0, 0))
axis = s_axis
rot1 = Quaternion(axis, ant * fo_rot)
rot2 = Quaternion(axis, (1 + ant) * fo_rot)
f1 = fr4 - frec * (1 + ant / 2)
f2 = fr4 - frec * (1 - (2 - ant) / 3)
if rot_mode[f] == 'QUATERNION':
pass
elif rot_mode[f] == 'AXIS_ANGLE':
qua = qua.to_axis_angle()
qua = qua[1], qua[0][0], qua[0][1], qua[0][2]
rot1 = rot1.to_axis_angle()
rot1 = rot1[1], rot1[0][0], rot1[0][1], rot1[0][2]
rot2 = rot2.to_axis_angle()
rot2 = rot2[1], rot2[0][0], rot2[0][1], rot2[0][2]
else:
qua = qua.to_euler(rot_mode[f])
rot1 = rot1.to_euler(rot_mode[f], qua)
rot2 = rot2.to_euler(rot_mode[f], qua)
for ax, fcq in enumerate(fc_qua[f]):
fcq.keyframe_points.add(4)
fcq.keyframe_points[-4].interpolation = 'LINEAR'
fcq.keyframe_points[-3].interpolation = 'LINEAR'
fcq.keyframe_points[-2].interpolation = 'LINEAR'
fcq.keyframe_points[-1].interpolation = 'LINEAR'
fcq.keyframe_points[-4].co = fr3, rot1[ax]
fcq.keyframe_points[-3].co = f1, qua[ax]
fcq.keyframe_points[-2].co = f2, qua[ax]
fcq.keyframe_points[-1].co = fr4, rot2[ax]
f_curves = {}
for col_bone in awc.new_bones:
name = col_bone.name
if name:
loc1 = col_bone.loc1.copy()
loc2 = col_bone.loc2.copy()
qua1 = col_bone.qua1.copy()
qua2 = col_bone.qua2.copy()
if name not in f_curves:
f_curves[name] = {}
if col_bone.seq_type == 'ES':
if fr1 in f_curves[name]:
f_curves[name][fr1][0] += loc1
f_curves[name][fr1][1] *= qua1
else:
f_curves[name][fr1] = [loc1, qua1]
if fr2 in f_curves[name]:
f_curves[name][fr2][0] += loc2
f_curves[name][fr2][1] *= qua2
else:
f_curves[name][fr2] = [loc2, qua2]
elif col_bone.seq_type == 'LR':
if fr1 in f_curves[name]:
f_curves[name][fr1][0] += loc1 if f else loc2
f_curves[name][fr1][1] *= qua1 if f else qua2
else:
f_curves[name][fr1] = [
loc1 if f else loc2, qua1 if f else qua2
]
if fr2 in f_curves[name]:
f_curves[name][fr2][0] += loc1.lerp(loc2, .5)
f_curves[name][fr2][1] *= qua1.slerp(qua2, .5)
else:
f_curves[name][fr2] = [
loc1.lerp(loc2, .5),
qua1.slerp(qua2, .5)
]
elif col_bone.seq_type == 'M':
if fr1 in f_curves[name]:
f_curves[name][fr1][0] += loc1.lerp(loc2, .5)
f_curves[name][fr1][1] *= qua1.slerp(qua2, .5)
else:
f_curves[name][fr1] = [
loc1.lerp(loc2, .5),
qua1.slerp(qua2, .5)
]
if fr2 in f_curves[name]:
f_curves[name][fr2][0] += loc1 if f else loc2
f_curves[name][fr2][1] *= qua1 if f else qua2
else:
f_curves[name][fr2] = [
loc1 if f else loc2, qua1 if f else qua2
]
for name in f_curves:
bone = rig.pose.bones[col_bone.name]
_rot_mode = bone.rotation_mode
dp_loc = 'pose.bones["%s"].location' % name
for fr in f_curves[name]:
loc, rot = f_curves[name][fr]
if _rot_mode == 'QUATERNION':
dp_rot = 'pose.bones["%s"].rotation_quaternion' % name
size = 4
elif _rot_mode == 'AXIS_ANGLE':
rot = rot.to_axis_angle()
rot = rot1[1], rot1[0][0], rot1[0][1], rot1[0][2]
dp_rot = 'pose.bones["%s"].rotation_axis_angle' % name
size = 4
else:
rot = rot.to_euler(_rot_mode, qua)
dp_rot = 'pose.bones["%s"].rotation_euler' % name
size = 3
# LOCATION
for i in range(3):
fcl = fc.find(dp_loc, index=i)
if not fcl:
fcl = fc.new(data_path=dp_loc, index=i)
fcl.keyframe_points.add(1)
fcl.keyframe_points[-1].interpolation = 'BEZIER'
fcl.keyframe_points[-1].handle_right_type = 'AUTO'
fcl.keyframe_points[-1].handle_left_type = 'AUTO'
fcl.keyframe_points[-1].co = fr, loc[i]
fcl.update()
# ROTATION
for i in range(size):
fcr = fc.find(dp_rot, index=i)
if not fcr:
fcr = fc.new(data_path=dp_rot, index=i)
fcr.keyframe_points.add(1)
fcr.keyframe_points[-1].interpolation = 'BEZIER'
fcr.keyframe_points[-1].handle_right_type = 'AUTO'
fcr.keyframe_points[-1].handle_left_type = 'AUTO'
fcr.keyframe_points[-1].co = fr, rot[i]
fcr.update()
#print('not suported')
for fc in fc_loc[0] + fc_loc[1] + fc_qua[0] + fc_qua[1]:
fc.update()
return {'FINISHED'}