def euler_angle_to_quaternions(x, y, z):
transform = fbx.FbxAMatrix()
transform.SetIdentity()
transform.SetR(fbx.FbxVector4(
x, y, z, 0.0)) # euler angle is 'eEulerXYZ' here, i.e. apply Z first
q = transform.GetQ()
return q
def populateSkins(self, fbxNode):
fbxNodeAttribute = fbxNode.GetNodeAttribute()
if fbxNodeAttribute:
fbxAttributeType = fbxNodeAttribute.GetAttributeType()
if (fbx.FbxNodeAttribute.eMesh == fbxAttributeType
or fbx.FbxNodeAttribute.eSubDiv == fbxAttributeType):
fbxMesh = fbxNode.GetNodeAttribute()
for i in range(fbxMesh.GetDeformerCount(
fbx.FbxDeformer.eSkin)):
fbxSkin = fbxMesh.GetDeformer(i, fbx.FbxDeformer.eSkin)
# try to find skeleton root (.eSkeleton) in parent nodes
root = self.findSkelRoot(fbxSkin.GetCluster(0).GetLink(
)) if fbxSkin.GetClusterCount() > 0 else None
skin = usdUtils.Skin(root)
for clusterIdx in range(fbxSkin.GetClusterCount()):
fbxCluster = fbxSkin.GetCluster(clusterIdx)
fbxJointNode = fbxCluster.GetLink()
skin.joints.append(fbxJointNode)
linkWorldTransform = fbx.FbxAMatrix()
linkWorldTransform = fbxCluster.GetTransformLinkMatrix(
linkWorldTransform)
skin.bindMatrices[
fbxJointNode] = GfMatrix4dWithFbxMatrix(
linkWorldTransform)
self.skinning.skins.append(skin)
self.fbxSkinToSkin[fbxSkin] = skin
for childIdx in xrange(fbxNode.GetChildCount()):
self.populateSkins(fbxNode.GetChild(childIdx))
def applySkinning(self, fbxNode, fbxSkin, usdMesh, indices):
skin = self.fbxSkinToSkin[fbxSkin]
skeleton = skin.skeleton
maxPointIndex = 0
for clusterIdx in range(fbxSkin.GetClusterCount()):
fbxCluster = fbxSkin.GetCluster(clusterIdx)
for i in range(fbxCluster.GetControlPointIndicesCount()):
pointIndex = fbxCluster.GetControlPointIndices()[i]
if maxPointIndex < pointIndex:
maxPointIndex = pointIndex
vertexCount = maxPointIndex + 1 # should be equal to number of vertices: max(indices) + 1
jointIndicesPacked = [[] for i in range(vertexCount)]
weightsPacked = [[] for i in range(vertexCount)]
for clusterIdx in range(fbxSkin.GetClusterCount()):
fbxCluster = fbxSkin.GetCluster(clusterIdx)
for i in range(fbxCluster.GetControlPointIndicesCount()):
pointIndex = fbxCluster.GetControlPointIndices()[i]
jointIndicesPacked[pointIndex].append(
skin.remapIndex(clusterIdx))
weightsPacked[pointIndex].append(
float(fbxCluster.GetControlPointWeights()[i]))
components = 0
for indicesPerVertex in jointIndicesPacked:
if components < len(indicesPerVertex):
components = len(indicesPerVertex)
jointIndices = [0] * vertexCount * components
weights = [float(0)] * vertexCount * components
for i in range(vertexCount):
indicesPerVertex = jointIndicesPacked[i]
for j in range(len(indicesPerVertex)):
jointIndices[i * components + j] = indicesPerVertex[j]
weights[i * components + j] = weightsPacked[i][j]
weights = Vt.FloatArray(weights)
UsdSkel.NormalizeWeights(weights, components)
usdSkelBinding = UsdSkel.BindingAPI(usdMesh)
usdSkelBinding.CreateJointIndicesPrimvar(False,
components).Set(jointIndices)
usdSkelBinding.CreateJointWeightsPrimvar(False,
components).Set(weights)
bindTransform = Gf.Matrix4d(1)
if fbxSkin.GetClusterCount() > 0:
# FBX stores bind transform matrix for the skin in each cluster
# get it from the first one
fbxCluster = fbxSkin.GetCluster(0)
fbxBindTransform = fbx.FbxAMatrix()
fbxBindTransform = fbxCluster.GetTransformMatrix(fbxBindTransform)
bindTransform = GfMatrix4dWithFbxMatrix(fbxBindTransform)
usdSkelBinding.CreateGeomBindTransformAttr(bindTransform)
usdSkelBinding.CreateSkeletonRel().AddTarget(
skeleton.usdSkeleton.GetPath())
if self.legacyModifier is not None:
self.legacyModifier.addSkelAnimToMesh(usdMesh, skeleton)
def getFbxNodeGeometricTransform(fbxNode):
# geometry transform is an additional transform for geometry
# it is relative to the node transform
# this transform is not distributing to the children nodes in scene graph
translation = fbxNode.GetGeometricTranslation(fbx.FbxNode.eSourcePivot)
rotation = fbxNode.GetGeometricRotation(fbx.FbxNode.eSourcePivot)
scale = fbxNode.GetGeometricScaling(fbx.FbxNode.eSourcePivot)
return fbx.FbxAMatrix(translation, rotation, scale)
def get_node_dict(scene, root_name):
pre_transform = fbx.FbxAMatrix()
pre_transform.SetIdentity()
pelvis, pre_transform = get_node(scene.GetRootNode(), root_name,
pre_transform)
nodes, parents, joint_names = get_nodes(pelvis)
rs = dict()
for i in range(len(joint_names)):
rs[joint_names[i]] = nodes[i]
return rs
def get_node(node, joint_name, transform):
if node.GetName() == joint_name:
return node, transform
# copy matrix considering python passes pointer
transform = fbx.FbxAMatrix(node.EvaluateLocalTransform() * transform)
for i in range(node.GetChildCount()):
parent = node.GetChild(i)
found_node, transform = get_node(parent, joint_name, transform)
if found_node:
return found_node, transform
return None, transform
def StoreBindPose(pSdkManager, pScene, pPatchNode):
lClusteredFbxNodes = []
if pPatchNode and pPatchNode.GetNodeAttribute():
lSkinCount = 0
lClusterCount = 0
lNodeAttributeType = pPatchNode.GetNodeAttribute().GetAttributeType()
if lNodeAttributeType in (fbx.FbxNodeAttribute.eMesh,
fbx.FbxNodeAttribute.eNurbs,
fbx.FbxNodeAttribute.ePatch):
lSkinCount = pPatchNode.GetNodeAttribute().GetDeformerCount(
fbx.FbxDeformer.eSkin)
for i in range(lSkinCount):
lSkin = pPatchNode.GetNodeAttribute().GetDeformer(
i, fbx.FbxDeformer.eSkin)
lClusterCount += lSkin.GetClusterCount()
# If we found some clusters we must add the node
if lClusterCount:
# Again, go through all the skins get each cluster link and add them
for i in range(lSkinCount):
lSkin = pPatchNode.GetNodeAttribute().GetDeformer(
i, fbx.FbxDeformer.eSkin)
lClusterCount = lSkin.GetClusterCount()
for j in range(lClusterCount):
lClusterNode = lSkin.GetCluster(j).GetLink()
AddNodeRecursively(lClusteredFbxNodes, lClusterNode)
# Add the patch to the pose
lClusteredFbxNodes += [pPatchNode]
# Now create a bind pose with the link list
if len(lClusteredFbxNodes):
# A pose must be named. Arbitrarily use the name of the patch node.
lPose = fbx.FbxPose.Create(pSdkManager, pPatchNode.GetName())
lPose.SetIsBindPose(True)
for lFbxNode in lClusteredFbxNodes:
lBindMatrix = fbx.FbxAMatrix()
lScene = lFbxNode.GetScene()
if lScene:
lBindMatrix = lScene.GetAnimationEvaluator(
).GetNodeGlobalTransform(lFbxNode)
lPose.Add(lFbxNode, fbx.FbxMatrix(lBindMatrix))
# Add the pose to the scene
pScene.AddPose(lPose)
def LinkMeshToSkeleton(pSdkManager, pPatchNode, pSkeletonRoot):
lLimbNode1 = pSkeletonRoot.GetChild(0)
# Bottom section of cylinder is clustered to skeleton root.
lClusterToRoot = fbx.FbxCluster.Create(pSdkManager, "")
lClusterToRoot.SetLink(pSkeletonRoot)
lClusterToRoot.SetLinkMode(fbx.FbxCluster.eTotalOne)
for i in range(3):
lClusterToRoot.AddControlPointIndex(i, 1)
# Center section of cylinder is clustered to skeleton limb node.
lClusterToLimbNode1 = fbx.FbxCluster.Create(pSdkManager, "")
lClusterToLimbNode1.SetLink(lLimbNode1)
lClusterToLimbNode1.SetLinkMode(fbx.FbxCluster.eTotalOne)
# Now we have the Patch and the skeleton correctly positioned,
# set the Transform and TransformLink matrix accordingly.
lXMatrix = fbx.FbxAMatrix()
lScene = pPatchNode.GetScene()
if lScene:
lXMatrix = lScene.GetAnimationEvaluator().GetNodeGlobalTransform(
pPatchNode)
lClusterToRoot.SetTransformMatrix(lXMatrix)
lClusterToLimbNode1.SetTransformMatrix(lXMatrix)
lScene = pSkeletonRoot.GetScene()
if lScene:
lXMatrix = lScene.GetAnimationEvaluator().GetNodeGlobalTransform(
pSkeletonRoot)
lClusterToRoot.SetTransformLinkMatrix(lXMatrix)
lScene = lLimbNode1.GetScene()
if lScene:
lXMatrix = lScene.GetAnimationEvaluator().GetNodeGlobalTransform(
lLimbNode1)
lClusterToLimbNode1.SetTransformLinkMatrix(lXMatrix)
# Add the clusters to the patch by creating a skin and adding those clusters to that skin.
# After add that skin.
lSkin = fbx.FbxSkin.Create(pSdkManager, "")
lSkin.AddCluster(lClusterToRoot)
lSkin.AddCluster(lClusterToLimbNode1)
pPatchNode.GetNodeAttribute().AddDeformer(lSkin)
def get_geometry_transform(node):
gt = node.GetGeometricTranslation(fbx.FbxNode.eSourcePivot)
gr = node.GetGeometricRotation(fbx.FbxNode.eSourcePivot)
gs = node.GetGeometricScaling(fbx.FbxNode.eSourcePivot)
return fbx.FbxAMatrix(gt, gr, gs)
def create_scene():
fbx_manager = fbx.FbxManager()
fbx_scene = fbx.FbxScene.Create(fbx_manager, "prototype_session_scene")
root_node = fbx_scene.GetRootNode()
# create some nodes
loc_1 = fbxUtils.create_locator("loc1", fbx_manager, root_node)
loc_2 = fbxUtils.create_locator("loc2", fbx_manager, root_node)
loc_3 = fbxUtils.create_locator("loc3", fbx_manager, root_node)
# maniuplate locators
mat_1 = fbx.FbxAMatrix()
mat_1.SetT(
fbx.FbxVector4(1, 2, 3, 0)
)
mat_1.SetR(
fbx.FbxVector4(45, 0, 0, 0)
)
# inspect matrix values
if False:
print mat_1.GetRow(0)
print mat_1.GetRow(1)
print mat_1.GetRow(2)
print mat_1.GetRow(3)
# test scale
if False:
mat_1.SetS(
fbx.FbxVector4(2, 2, 2, 0)
)
print mat_1.GetRow(0)
print mat_1.GetRow(1)
print mat_1.GetRow(2)
print mat_1.GetRow(3)
# set node values
loc_1.LclTranslation.Set(
fbx.FbxDouble4(*list(mat_1.GetT()))
)
loc_1.LclRotation.Set(
fbx.FbxDouble4(*list(mat_1.GetR()))
)
# test "aim"
if False:
# the aim matrix method aint gonna work
# cos we can only set rows using FbxMatrix
# but we can't get Euler values from it
# and we can't turn it into FbxAMatrix
# so I guess we have to do it the hard way?
mat_2 = fbx.FbxMatrix()
mat_2.SetRow(0, fbx.FbxVector4(1, 0, 0, 0))
mat_2.SetRow(1, fbx.FbxVector4(0, 1, 0, 0))
mat_2.SetRow(2, fbx.FbxVector4(0, 0, 1, 0))
mat_2.SetRow(3, fbx.FbxVector4(2, 0, 0, 1))
mat_2a = mat_2 * fbx.FbxAMatrix()
loc_2.LclTranslation.Set(
fbx.FbxDouble4(*list(mat_2a.GetT()))
)
loc_2.LclRotation.Set(
fbx.FbxDouble4(*list(mat_2a.GetR()))
)
# in theory this method should support rotation orders...?
# euler aim (x - aim, y - up)
x_aim_vector = fbx.FbxVector4(0.5, 0.1, 0.4, 0)
y_up_vector = fbx.FbxVector4(-0.2, 1, 0.1, 0)
# calculate vectors
x_aim_vector.Normalize()
y_up_vector.Normalize()
z_norm_vector = x_aim_vector.CrossProduct(y_up_vector)
# z_norm_vector = y_up_vector.CrossProduct(x_aim_vector)
z_norm_vector.Normalize()
# y_corrected_up_vector = x_aim_vector.CrossProduct(z_norm_vector)
y_corrected_up_vector = z_norm_vector.CrossProduct(x_aim_vector)
if False:
# debugging
print "aim ", x_aim_vector, x_aim_vector.Length()
print "up ", y_up_vector, y_up_vector.Length()
print "cor up ", y_corrected_up_vector, y_corrected_up_vector.Length()
print "norm ", z_norm_vector, z_norm_vector.Length()
print "np x", numpy.cross(
[0, 1, 0],
[0, 0, 1],
)
print "np y", numpy.cross(
[0, 0, 1],
[1, 0, 0],
)
print "np z", numpy.cross(
[1, 0, 0],
[0, 1, 0],
)
if False:
# create scipy rotation object
# using direction cosine matrix
directions = [
[1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, 1, 0]
]
x_aim_cosines = [
fbx.FbxVector4(*direction).DotProduct(
x_aim_vector,
) for direction in directions
]
y_up_cosines = [
fbx.FbxVector4(*direction).DotProduct(
y_up_vector,
) for direction in directions
]
z_norm_cosines = [
fbx.FbxVector4(*direction).DotProduct(
z_norm_vector,
) for direction in directions
]
print numpy.array([
x_aim_cosines,
y_up_cosines,
z_norm_cosines
])
print numpy.rad2deg([
x_aim_cosines,
y_up_cosines,
z_norm_cosines
])
sp_rot = scipy_rotation.from_dcm(
# # [0.0, 0.0, -17.46279830041399]
# numpy.rad2deg([
# x_aim_cosines,
# y_up_cosines,
# z_norm_cosines
# ])
#
# #[0.0, 0.0, -13.101645932991731]
numpy.array([
list(x_aim_vector)[:3],
list(y_up_vector)[:3],
list(z_norm_vector)[:3]
]).transpose()
# [0.0, 0.0, -13.101645932991731]
# numpy.array([
# x_aim_cosines,
# y_up_cosines,
# z_norm_cosines
# ])
)
poop_aim = sp_rot.as_euler('ZYX', degrees=True).tolist()
euler_aim = sp_rot.as_euler('XYZ', degrees=True).tolist()
# test
loc_2.LclTranslation.Set(
fbx.FbxDouble4(2, 0, 0, 0)
)
loc_2.LclRotation.Set(
fbx.FbxDouble4(*euler_aim + [0])
)
# test rotation order
loc_3.SetRotationOrder(
loc_3.eSourcePivot,
fbx.eEulerZYX
)
loc_3.LclTranslation.Set(
fbx.FbxDouble4(3, 0, 0, 0)
)
loc_3.LclRotation.Set(
fbx.FbxDouble4(
*poop_aim + [0]
#*sp_rot.as_euler('zyx', degrees=True).tolist() + [0]
)
)
loc_1_mat = loc_1.EvaluateGlobalTransform()
print loc_1_mat.GetR()
loc_2_mat = loc_2.EvaluateGlobalTransform()
print loc_2_mat.GetR()
loc_3_mat = loc_3.EvaluateGlobalTransform()
print loc_3_mat.GetR()
return fbx_manager, fbx_scene
def thingA1():
"""
Create locator, give it some random local translate and rotate values.
Get matrix via xform.
Calculate matrix manually.
Compare matrices.
xform second locator with manual matrix.
Compare locators.
"""
loc = cmds.spaceLocator()[0]
rotate = get_random_rotate(ROTATE_SEED)
print "rotation: ", rotate
rads = [math.radians(i) for i in rotate]
print "radians: ", rads
cmds.xform(loc, rotation=rotate)
xform_matrix = cmds.xform(loc, query=True, matrix=True)
print "maya xform: ", xform_matrix
local_matrix = cmds.getAttr(loc + ".matrix")
print "maya matrix attr: ", local_matrix
x_rot, y_rot, z_rot = rads
x_matrix = [
[1.0, 0.0, 0.0, 0.0],
[0.0, math.cos(x_rot), math.sin(x_rot), 0.0],
[0.0, -math.sin(x_rot), math.cos(x_rot), 0.0],
[0.0, 0.0, 0.0, 1.0]
]
y_matrix = [
[math.cos(y_rot), 0.0, -math.sin(y_rot), 0.0],
[0.0, 1.0, 0.0, 0.0],
[math.sin(y_rot), 0.0, math.cos(y_rot), 0.0],
[0.0, 0.0, 0.0, 1.0]
]
z_matrix = [
[math.cos(z_rot), math.sin(z_rot), 0.0, 0.0],
[-math.sin(z_rot), math.cos(z_rot), 0.0, 0.0],
[0.0, 0.0, 1.0, 0.0],
[0.0, 0.0, 0.0, 1.0]
]
fbx_x_matrix = fbx.FbxMatrix()
for i, row in enumerate(x_matrix):
fbx_x_matrix.SetRow(i, fbx.FbxVector4(*row))
fbx_y_matrix = fbx.FbxMatrix()
for i, row in enumerate(y_matrix):
fbx_y_matrix.SetRow(i, fbx.FbxVector4(*row))
fbx_z_matrix = fbx.FbxMatrix()
for i, row in enumerate(z_matrix):
fbx_z_matrix.SetRow(i, fbx.FbxVector4(*row))
transform = fbx_z_matrix * fbx_y_matrix * fbx_x_matrix
# print matrix
fbx_matrix = [j for i in range(4) for j in list(transform.GetRow(i))]
print "fbx matrix: ", fbx_matrix
# test on new loc
loc2 = cmds.spaceLocator()[0]
cmds.xform(loc2, matrix=fbx_matrix)
# interesting to note that maya does not decompose
# identical local rotate values to the original
# loc2 and loc3 results are the same
# axes align with loc1, but local values are different!
loc3 = cmds.spaceLocator()[0]
cmds.xform(loc3, matrix=local_matrix)
# decompose via FbxMatrix, FbxQuaternion and FbxAMatrix
# note this only works for XYZ rotation order
pTranslation = fbx.FbxVector4()
pRotation = fbx.FbxQuaternion()
pShearing = fbx.FbxVector4()
pScaling = fbx.FbxVector4()
transform.GetElements(
pTranslation,
pRotation,
pShearing,
pScaling,
)
# test results
# local values are same as maya's decompose!
# as in correct axis alignment with loc1
# but different local values to loc1
test = fbx.FbxAMatrix()
test.SetQ(pRotation)
print "FbxAMatrix rotation: ", test.GetR()
def thingB1():
"""
Create locator, give it some random local rotate values.
Get matrix via xform.
Decompose matrix to local rotate values.
Compare values
"""
# initialize a random rotation
rotate = get_random_rotate(ROTATE_SEED)
# create a locator and apply rotation
loc = cmds.spaceLocator()[0]
cmds.xform(loc, rotation=rotate)
# query local matrix
local_matrix = cmds.getAttr(loc + ".matrix")
# seperate rows
row_0 = local_matrix[0:4]
row_1 = local_matrix[4:8]
row_2 = local_matrix[8:12]
row_3 = local_matrix[12:16]
# apply matrix to new loc to compare how maya xform command performs
# loc_1 = cmds.spaceLocator()[0]
loc_1 = cmds.createNode("transform")
cmds.xform(loc_1, matrix=local_matrix)
maya_decomp = cmds.xform(loc_1, query=True, rotation=True)
# construct fbx matrix
fbx_matrix = fbx.FbxMatrix()
for i, row in enumerate([row_0, row_1, row_2, row_3]):
fbx_matrix.SetRow(i, fbx.FbxVector4(*row))
# decompose via FbxMatrix, FbxQuaternion and FbxAMatrix
# note this only works for XYZ rotation order
pTranslation = fbx.FbxVector4()
pRotation = fbx.FbxQuaternion()
pShearing = fbx.FbxVector4()
pScaling = fbx.FbxVector4()
fbx_matrix.GetElements(
pTranslation,
pRotation,
pShearing,
pScaling,
)
test = fbx.FbxAMatrix()
test.SetQ(pRotation)
# manual decomp
# nope try again (wrong order? xyz instead of zyx?)
#rot_y = math.asin(row_2[0])
# xyz order gives correct y
# interesting to note sometimes this matches maya decomp
# and sometimes is matches original rotation
rot_y = -math.asin(row_0[2])
rot_y_degs = math.degrees(rot_y)
# not exactly
# correct value but positive/negative often incorrect
# not sure why
# rot_x = math.acos(row_2[2] / math.cos(rot_y))
# rot_x_degs = math.degrees(rot_x)
# rot_x = math.asin(row_1[2] / math.cos(rot_y))
# rot_x_degs = math.degrees(rot_x)
#
# rot_z = math.acos(row_0[0] / math.cos(rot_y))
# rot_z_degs = math.degrees(rot_z)
# use sine instead of cosine to get pos/neg values
# sometimes right!!
# obviously there's certain conditions where this works
# and others where it doesn't
# probably some gimbal lock related stuff
# TODO rot y seems to be correct 100% of the time
# do some random tests to see if that's consistent
# _p for partial
# rot_x_p = math.asin(row_2[2] / math.sin(math.radians(90 - rot_y_degs)))
# rot_x_degs = (math.degrees(rot_x_p) - 90) * -1
#
# rot_z = math.asin(row_0[1] / math.sin(math.radians(90 - rot_y_degs)))
# rot_z_degs = math.degrees(rot_z)
# check for pos/neg
# we can determine the direction of rotation by comparing
# cosine and sine values of the angle
# these can be found from particular rows and columns
# of the matrix when written out algebraically
# this seems to work consistently!!!
sin_z = row_0[1] / math.cos(rot_y)
cos_z = row_0[0] / math.cos(rot_y)
print "cos z: {}, sin z: {}".format(cos_z, sin_z)
if cos_z == 1:
rot_z = 0.0
elif cos_z == 0:
rot_z = math.radians(180)
elif sin_z == 1:
rot_z = math.radians(90)
elif sin_z == -1:
rot_z = math.radians(-90)
elif cos_z > 0 and sin_z > 0:
print "+z"
rot_z = math.acos(cos_z)
elif cos_z < 0 and sin_z > 0:
print "180-z"
rot_z = math.radians(180) - math.asin(sin_z)
elif cos_z > 0 and sin_z < 0:
print "-z"
rot_z = -math.acos(cos_z)
elif cos_z < 0 and sin_z < 0:
print "-180-z"
rot_z = math.radians(-180) - math.asin(sin_z)
elif cos_z > 1 or cos_z < -1 or sin_z > 1 or sin_z < -1:
raise Exception("-1 > cos/sin > 1 out of bounds")
# TOOD if neccesary
rot_z_degs = math.degrees(rot_z)
# check for pos/neg
cos_x = row_2[2] / math.cos(rot_y)
sin_x = row_1[2] / math.cos(rot_y)
print "cos x: {}, sin x: {}".format(cos_x, sin_x)
if cos_x == 1:
rot_x = 0.0
elif cos_x == 0:
rot_x = math.radians(180)
elif sin_x == 1:
rot_x = math.radians(90)
elif sin_x == -1:
rot_x = math.radians(-90)
elif cos_x > 0 and sin_x > 0:
print "+z"
rot_x = math.acos(cos_x)
elif cos_x < 0 and sin_x > 0:
print "180-z"
rot_x = math.radians(180) - math.asin(sin_x)
elif cos_x > 0 and sin_x < 0:
print "-z"
rot_x = -math.acos(cos_x)
elif cos_x < 0 and sin_x < 0:
print "-180-z"
rot_x = math.radians(-180) - math.asin(sin_x)
elif cos_x > 1 or cos_x < -1 or sin_x > 1 or sin_x < -1:
raise Exception("-1 > cos/sin > 1 out of bounds")
# TOOD if neccesary
rot_x_degs = math.degrees(rot_x)
# test going back through each rotation
# Nope, can't work cos y is not the last rotation!
# mat_y = fbx.FbxMatrix()
# mat_y.SetRow(0, fbx.FbxVector4(math.cos(rot_y), 0, -math.sin(rot_y), 0))
# mat_y.SetRow(1, fbx.FbxVector4(0, 1, 0, 0))
# mat_y.SetRow(2, fbx.FbxVector4(math.sin(rot_y), 0, math.cos(rot_y), 0))
# mat_y.SetRow(3, fbx.FbxVector4(0, 0, 0, 1))
#
# mat_xz = mat_y.Inverse() * fbx_matrix
#
# rot_x = math.acos(mat_xz.GetRow(1)[1])
# rot_x_degs = math.degrees(rot_x)
#
# rot_z_degs = 0 # TODO
# test manual decomp
loc_2 = cmds.spaceLocator()[0]
cmds.xform(loc_2, rotation=(rot_x_degs, rot_y_degs, rot_z_degs))
# test scipy direction cosines method
# get direction cosines using dot product
# this seems to suffer similar problems
# to when we don't check for pos/neg rotations
# sometimes is correct, others not
# probably best to avoid using this
# especially considering this module
# is not present in the sourced maya version of scipy
world_x_vec = fbx.FbxVector4(1, 0, 0)
world_y_vec = fbx.FbxVector4(0, 1, 0)
world_z_vec = fbx.FbxVector4(0, 0, 1)
world_vectors = [world_x_vec, world_y_vec, world_z_vec]
row_0_vec = fbx.FbxVector4(*row_0)
row_1_vec = fbx.FbxVector4(*row_1)
row_2_vec = fbx.FbxVector4(*row_2)
row_vectors = [fbx.FbxVector4(*i) for i in row_0, row_1, row_2]
# actually, we can determine if these should be positive or negative
# from cross products etc.
# would that actually help though??
# TODO!
direction_cosines = [
[row_vec.DotProduct(w_vec) for w_vec in world_vectors]
for row_vec in row_vectors
]
sp_rot = scipy_rotation.from_dcm(
numpy.array(direction_cosines)
)
sp_decomp = sp_rot.as_euler('XYZ', degrees=True)
# loc_3 = cmds.spaceLocator()[0]
# cmds.xform(loc_3, rotation=sp_decomp.tolist())
# compare matrices
print "maya matrix attr: ", local_matrix
fbx_matrix_list = [j for i in range(4) for j in list(fbx_matrix.GetRow(i))]
print "fbx matrix: ", fbx_matrix_list
# print rows
print "maya matrix rows:\n\t{}\n\t{}\n\t{}\n\t{}".format(
row_0, row_1, row_2, row_3
)
# compare results
print "rotation: ", rotate
print "maya decomp: ", maya_decomp
print "Fbx decomp: {}".format(list(test.GetR()))
print "Scipy decomp: {}".format(sp_decomp.tolist())
print "manual decomp: ", rot_x_degs, rot_y_degs, rot_z_degs
def import_fbx(filename, pelvis_name=None):
"""
:param filename: fbx file name
:param pelvis_name: the name of skeleton root
:return:
joint_names: (J, )
parents: (J, )
offsets: (J, 3)
qs: (F, J, 4) quaternions
translations: (F, J, 3)
pre_transform: fbx.FbxAMatrix, the global transformation applied to the whole skeleton, e.g. rotX = 180
"""
# Initialize scene
manager = fbx.FbxManager.Create()
ios = fbx.FbxIOSettings.Create(manager, fbx.IOSROOT)
manager.SetIOSettings(ios)
importer = fbx.FbxImporter.Create(manager, "")
status = importer.Initialize(filename, -1, manager.GetIOSettings())
if not status:
status = importer.GetStatus()
print("Call to FbxImporter::Initialize() failed")
print("Error returned: %s" % status.GetErrorString())
return
scene = fbx.FbxScene.Create(manager, "scene")
importer.Import(scene)
importer.Destroy()
# Load Skeleton
pre_transform = fbx.FbxAMatrix()
pre_transform.SetIdentity()
if pelvis_name is not None:
pelvis, pre_transform = get_node(scene.GetRootNode(), pelvis_name,
pre_transform)
else:
root = scene.GetRootNode()
pelvis = root
for i in range(root.GetChildCount()):
node = root.GetChild(i)
if isinstance(node.GetNodeAttribute(), fbx.FbxSkeleton):
pelvis = node
break
nodes, parents, joint_names = get_nodes(pelvis)
# Load anim
# nobjects = scene.GetSrcObjectCount()
stack = scene.GetCurrentAnimationStack()
layer = stack.GetMember(0)
offsets, qs, ts = get_anim(layer, nodes)
offsets[0] = np.zeros(3)
qs_global, ts_global = get_global_transform(layer, nodes)
# consider pre transform
preQ = pre_transform.GetQ() # fbx.FbxQuaternion
qs[:, 0] = preQ * qs[:, 0]
preT = fbxVec4ToList(pre_transform.GetT()) # (3, )
ts[:, 0] += preT
# fbx.FbxQuaternion to np array
qs = fbxQuaternionToArray(qs)
qs_global = fbxQuaternionToArray(qs_global)
return joint_names, parents, offsets, qs, ts, qs_global, ts_global