def writeAnimation(filepath, human, config, animTrack):
log.message("Exporting animation %s.", animTrack.name)
numJoints = len(human.getSkeleton().getBones()) + 1
animfilename = os.path.splitext(os.path.basename(filepath))[0]
animfilename = animfilename + "_%s.md5anim" % (animTrack.name)
foldername = os.path.dirname(filepath)
animfilepath = os.path.join(foldername, animfilename)
f = codecs.open(animfilepath, 'w', encoding="utf-8")
f.write('MD5Version 10\n')
f.write('commandline ""\n\n')
f.write('numFrames %d\n' % animTrack.nFrames)
f.write('numJoints %d\n' % numJoints)
f.write('frameRate %d\n' % int(animTrack.frameRate))
f.write('numAnimatedComponents %d\n\n' % (numJoints * 6))
skel = human.getSkeleton()
flags = 63
f.write('hierarchy {\n')
f.write('\t"origin" -1 %d 0\n' % flags)
arrayIdx = 6
for bIdx, bone in enumerate(skel.getBones()):
#<string:jointName> <int:parentIndex> <int:flags> <int:startIndex>
if bone.parent:
f.write('\t"%s" %d %d %d\n' % (bone.name, bone.parent.index+1, flags, arrayIdx))
else:
f.write('\t"%s" %d %d %d\n' % (bone.name, 0, flags, arrayIdx))
arrayIdx = arrayIdx + 6
f.write('}\n\n')
f.write('bounds {\n')
bounds = human.meshData.calcBBox()
if config.feetOnGround:
bounds[:][1] += getFeetOnGroundOffset(human)
if config.zUp:
bounds[0] = bounds[0][[0,2,1]] * [1,-1,1]
bounds[1] = bounds[1][[0,2,1]] * [1,-1,1]
bounds = bounds * scale
# TODO use bounds calculated for every frame
for frameIdx in range(animTrack.nFrames):
#( vec3:boundMin ) ( vec3:boundMax )
f.write('\t( %f %f %f ) ( %f %f %f )\n' % (bounds[0][0], bounds[0][1], bounds[0][2], bounds[1][0], bounds[1][1], bounds[1][2]))
f.write('}\n\n')
f.write('baseframe {\n')
f.write('\t( %f %f %f ) ( %f %f %f )\n' % (0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
bases = []
for bone in skel.getBones():
pos = bone.getRestOffset() * scale
if config.feetOnGround and not bone.parent:
pos[1] += (getFeetOnGroundOffset(human) * scale)
transformationMat = bone.matRestRelative.copy()
if config.zUp:
transformationMat = np.dot(ZYRotation, np.dot(transformationMat,la.inv(ZYRotation)))
pos = pos[[0,2,1]] * [1,-1,1]
orientationQuat = aljabr.matrix2Quaternion(transformationMat)
qx = orientationQuat[0]
qy = orientationQuat[1]
qz = orientationQuat[2]
w = orientationQuat[3]
#( vec3:position ) ( vec3:orientation )
f.write('\t( %f %f %f ) ( %f %f %f )\n' % (pos[0], pos[1], pos[2], qx, qy, qz))
bases.append((pos, [qx, qy, qz, w]))
f.write('}\n\n')
for frameIdx in range(animTrack.nFrames):
frame = animTrack.getAtFramePos(frameIdx)
f.write('frame %d {\n' % frameIdx)
f.write('\t%f %f %f %f %f %f\n' % (0.0, 0.0, 0.0, 0.0, 0.0, 0.0)) # Transformation for origin joint
for bIdx in range(numJoints-1):
transformationMat = frame[bIdx].copy()
pos = transformationMat[:3,3] * scale
transformationMat[:3,3] = [0.0, 0.0, 0.0]
if config.zUp:
transformationMat = np.dot(ZYRotation, np.dot(transformationMat,la.inv(ZYRotation)))
pos = pos[[0,2,1]] * [1,-1,1]
#baseRot = aljabr.quaternion2Matrix(bases[bIdx][1])
#transformationMat = np.dot(transformationMat[:3,:3], baseRot)
pos += bases[bIdx][0]
orientationQuat = aljabr.matrix2Quaternion(transformationMat)
qx = orientationQuat[0]
qy = orientationQuat[1]
qz = orientationQuat[2]
w = orientationQuat[3]
if w > 0:
qx = -qx
qy = -qy
qz = -qz
# vec3:position vec3:orientation
f.write('\t%f %f %f %f %f %f\n' % (pos[0], pos[1], pos[2], qx, qy, qz))
f.write('}\n\n')
f.close()
def getRestOrientationQuat(self):
return aljabr.matrix2Quaternion(self.matRestGlobal)
def writeAnimation(filepath, human, config, animTrack):
log.message("Exporting animation %s.", animTrack.name)
numJoints = len(human.getSkeleton().getBones()) + 1
animfilename = os.path.splitext(os.path.basename(filepath))[0]
animfilename = animfilename + "_%s.md5anim" % (animTrack.name)
foldername = os.path.dirname(filepath)
animfilepath = os.path.join(foldername, animfilename)
f = open(animfilepath, 'w')
f.write('MD5Version 10\n')
f.write('commandline ""\n\n')
f.write('numFrames %d\n' % animTrack.nFrames)
f.write('numJoints %d\n' % numJoints)
f.write('frameRate %d\n' % int(animTrack.frameRate))
f.write('numAnimatedComponents %d\n\n' % (numJoints * 6))
skel = human.getSkeleton()
flags = 63
f.write('hierarchy {\n')
f.write('\t"origin" -1 %d 0\n' % flags)
arrayIdx = 6
for bIdx, bone in enumerate(skel.getBones()):
#<string:jointName> <int:parentIndex> <int:flags> <int:startIndex>
if bone.parent:
f.write('\t"%s" %d %d %d\n' % (bone.name, bone.parent.index+1, flags, arrayIdx))
else:
f.write('\t"%s" %d %d %d\n' % (bone.name, 0, flags, arrayIdx))
arrayIdx = arrayIdx + 6
f.write('}\n\n')
f.write('bounds {\n')
bounds = human.meshData.calcBBox()
if config.feetOnGround:
bounds[:][1] += getFeetOnGroundOffset(human)
if config.zUp:
bounds[0] = bounds[0][[0,2,1]] * [1,-1,1]
bounds[1] = bounds[1][[0,2,1]] * [1,-1,1]
bounds = bounds * scale
# TODO use bounds calculated for every frame
for frameIdx in xrange(animTrack.nFrames):
#( vec3:boundMin ) ( vec3:boundMax )
f.write('\t( %f %f %f ) ( %f %f %f )\n' % (bounds[0][0], bounds[0][1], bounds[0][2], bounds[1][0], bounds[1][1], bounds[1][2]))
f.write('}\n\n')
f.write('baseframe {\n')
f.write('\t( %f %f %f ) ( %f %f %f )\n' % (0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
bases = []
for bone in skel.getBones():
pos = bone.getRestOffset() * scale
if config.feetOnGround and not bone.parent:
pos[1] += (getFeetOnGroundOffset(human) * scale)
transformationMat = bone.matRestRelative.copy()
if config.zUp:
transformationMat = np.dot(ZYRotation, np.dot(transformationMat,la.inv(ZYRotation)))
pos = pos[[0,2,1]] * [1,-1,1]
orientationQuat = aljabr.matrix2Quaternion(transformationMat)
qx = orientationQuat[0]
qy = orientationQuat[1]
qz = orientationQuat[2]
w = orientationQuat[3]
#( vec3:position ) ( vec3:orientation )
f.write('\t( %f %f %f ) ( %f %f %f )\n' % (pos[0], pos[1], pos[2], qx, qy, qz))
bases.append((pos, [qx, qy, qz, w]))
f.write('}\n\n')
for frameIdx in xrange(animTrack.nFrames):
frame = animTrack.getAtFramePos(frameIdx)
f.write('frame %d {\n' % frameIdx)
f.write('\t%f %f %f %f %f %f\n' % (0.0, 0.0, 0.0, 0.0, 0.0, 0.0)) # Transformation for origin joint
for bIdx in xrange(numJoints-1):
transformationMat = frame[bIdx].copy()
pos = transformationMat[:3,3] * scale
transformationMat[:3,3] = [0.0, 0.0, 0.0]
if config.zUp:
transformationMat = np.dot(ZYRotation, np.dot(transformationMat,la.inv(ZYRotation)))
pos = pos[[0,2,1]] * [1,-1,1]
#baseRot = aljabr.quaternion2Matrix(bases[bIdx][1])
#transformationMat = np.dot(transformationMat[:3,:3], baseRot)
pos += bases[bIdx][0]
orientationQuat = aljabr.matrix2Quaternion(transformationMat)
qx = orientationQuat[0]
qy = orientationQuat[1]
qz = orientationQuat[2]
w = orientationQuat[3]
if w > 0:
qx = -qx
qy = -qy
qz = -qz
# vec3:position vec3:orientation
f.write('\t%f %f %f %f %f %f\n' % (pos[0], pos[1], pos[2], qx, qy, qz))
f.write('}\n\n')
f.close()
def getRestOrientationQuat(self):
return aljabr.matrix2Quaternion(self.matRestGlobal)