def smooth_bf(self, data_set_no: int, bone_name: str, is_rot: bool, is_mov: bool, limit_degrees: float, start_fno=-1, end_fno=-1, is_show_log=True):
# キーフレを取得する
if start_fno < 0 and end_fno < 0:
# 範囲指定がない場合、全範囲
fnos = self.get_bone_fnos(bone_name)
else:
# 範囲指定がある場合はその範囲内だけ
fnos = self.get_bone_fnos(bone_name, start_fno=start_fno, end_fno=end_fno)
prev_sep_fno = 0
if len(fnos) > 2:
for fno in fnos:
prev_bf = self.calc_bf(bone_name, fno - 1)
now_bf = self.calc_bf(bone_name, fno)
next_bf = self.calc_bf(bone_name, fno + 1)
if is_rot and now_bf.key:
# 前後の内積
prev_next_dot = MQuaternion.dotProduct(prev_bf.rotation, next_bf.rotation)
# 自分と後の内積
now_next_dot = MQuaternion.dotProduct(now_bf.rotation, next_bf.rotation)
# 内積差分
diff = np.abs(np.diff([prev_next_dot, now_next_dot]))
logger.test("set: %s, %s, f: %s, diff: %s, prev_next_dot: %s, now_next_dot: %s", data_set_no, bone_name, fno, diff, prev_next_dot, now_next_dot)
# 前後と自分の内積の差が一定以上の場合、円滑化
if prev_next_dot > now_next_dot and diff > math.radians(limit_degrees):
logger.debug("★ 円滑化 set: %s, %s, f: %s, diff: %s, prev_next_dot: %s, now_next_dot: %s", \
data_set_no, bone_name, fno, diff, prev_next_dot, now_next_dot)
now_bf.rotation = MQuaternion.slerp(prev_bf.rotation, next_bf.rotation, ((now_bf.fno - prev_bf.fno) / (next_bf.fno - prev_bf.fno)))
if is_show_log and data_set_no > 0 and fno // 500 > prev_sep_fno and fnos[-1] > 0:
logger.info("-- %sフレーム目:終了(%s％)【No.%s - 円滑化 - %s】", fno, round((fno / fnos[-1]) * 100, 3), data_set_no, bone_name)
prev_sep_fno = fno // 500
def test_MQuaternion_inverted(self):
parent_qq = MQuaternion.fromEulerAngles(4.444088972232067, -131.68893846184505, 6.602773293502102)
from_orientation = MQuaternion.fromEulerAngles(-28.005875419210547, -34.26259576800703, -81.65247193883769)
initial = MQuaternion.fromEulerAngles(-0.0, 90.0, -90.0)
cancel_qq = MQuaternion(-0.9992778836743259, -0.037996199801564046, -5.551115123125783e-17, 5.551115123125783e-17)
from_rotation = parent_qq.inverted() * from_orientation * initial.inverted() * cancel_qq.inverted()
print(from_rotation.toEulerAngles4MMD())
def test_MQuaternion_inverted02(self):
initial = MQuaternion.fromEulerAngles(-23.093702434660457, 104.29537469962791, -100.75495862294058)
orientation = MQuaternion.fromEulerAngles(2.8645534869583353, 112.98932633880118, -74.65035471978359)
rot = orientation * initial.inverted()
print(rot.toEulerAngles())
rot = initial.inverted() * orientation
print(rot.toEulerAngles())
class VmdBoneFrame():
def __init__(self, fno=0):
self.name = ''
self.bname = ''
self.fno = fno
self.position = MVector3D()
self.rotation = MQuaternion()
self.org_position = MVector3D()
self.org_rotation = MQuaternion()
self.interpolation = [20, 20, 0, 0, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 20, 20, 20, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 0, 20, 20, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 0, 0, 20, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 0, 0, 0] # noqa
self.org_interpolation = [20, 20, 0, 0, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 20, 20, 20, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 0, 20, 20, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 0, 0, 20, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 0, 0, 0] # noqa
# 登録対象であるか否か
self.key = False
# VMD読み込み処理で読み込んだキーか
self.read = False
# 接触回避の方向
self.avoidance = ""
def set_name(self, name):
self.name = name
self.bname = '' if not name else name.encode('cp932').decode('shift_jis').encode('shift_jis')[:15].ljust(15, b'\x00')
def copy(self):
bf = VmdBoneFrame(self.fno)
bf.name = self.name
bf.bname = self.bname
bf.position = self.position.copy()
bf.rotation = self.rotation.copy()
bf.org_position = self.org_position.copy()
bf.org_rotation = self.org_rotation.copy()
bf.interpolation = cPickle.loads(cPickle.dumps(self.interpolation, -1))
bf.key = self.key
bf.read = self.read
return bf
def __str__(self):
return "<VmdBoneFrame name:{0}, fno:{1}, position:{2}, rotation:{3}, euler:{4}, key:{5}, read:{6}, interpolation: {7}>".format( \
self.name, self.fno, self.position, self.rotation, self.rotation.toEulerAngles4MMD(), self.key, self.read, self.interpolation)
def write(self, fout):
if not self.bname:
self.bname = self.name.encode('cp932').decode('shift_jis').encode('shift_jis')[:15].ljust(15, b'\x00') # 15文字制限
fout.write(self.bname)
fout.write(struct.pack('<L', int(self.fno)))
fout.write(struct.pack('<f', float(self.position.x())))
fout.write(struct.pack('<f', float(self.position.y())))
fout.write(struct.pack('<f', float(self.position.z())))
v = self.rotation.normalized().toVector4D()
fout.write(struct.pack('<f', float(v.x())))
fout.write(struct.pack('<f', float(v.y())))
fout.write(struct.pack('<f', float(v.z())))
fout.write(struct.pack('<f', float(v.w())))
fout.write(bytearray([int(min(127, max(0, x))) for x in self.interpolation]))
def interpolate_vec3(op: MVector3D, ow: MVector3D, on: MVector3D, d: MVector3D,
t: float, f: int):
# 念のためコピー
p = op.copy()
w = ow.copy()
n = on.copy()
# 半径は3点間の距離の最長の半分
r = max(p.distanceToPoint(w), p.distanceToPoint(n),
w.distanceToPoint(n)) / 2
logger.test("op: %s, ow: %s, on: %s, d: %s, t: %s, f: %s, r: %s",
p.to_log(), w.to_log(), n.to_log(), d.to_log(), t, f, r)
if r == 0:
# 半径が取れなかった場合、そもそもまったく移動がないので、線分移動
return (p + n) * t
if p == w or p == n or w == n:
# 半径が0の場合か、どれか同じ値の場合、線対称な値を使用する
n = d
# 3点を通る球体の原点を求める
c, radius = calc_sphere_center(p, w, n, r)
if radius == 0:
# 半径が取れなかった場合、そもそもまったく移動がないので、線分移動
return (p + n) * t
# prev -> now の t分の回転量
pn_qq = MQuaternion.rotationTo((p - c).normalized(), (c - c).normalized())
pw_qq = MQuaternion.rotationTo((p - c).normalized(), (w - c).normalized())
# 球形補間の移動量
t_qq = MQuaternion.slerp(pn_qq, pw_qq, t)
logger.test("(p - c): %s, (c - c): %s, (w - c): %s", (p - c).normalized(),
(c - c).normalized(), (w - c).normalized())
logger.test("pn_qq: %s, pw: %s, t: %s", pn_qq, pw_qq, t_qq)
out = t_qq * (p - c) + c
# 値の変化がない場合、上書き
if p.x() == w.x() == n.x():
out.setX(w.x())
if p.y() == w.y() == n.y():
out.setY(w.y())
if p.z() == w.z() == n.z():
out.setZ(w.z())
out.effective()
logger.test(out.to_log())
return out
def calc_direction_qq(model: PmxModel,
links: BoneLinks,
motion: VmdMotion,
fno: int,
limit_links=None):
add_qs = calc_relative_rotation(model, links, motion, fno, limit_links)
total_qq = MQuaternion()
for qq in add_qs:
total_qq *= qq
return total_qq.normalized()
def test_separate(self):
MLogger.initialize(level=MLogger.TEST, is_file=True)
logger = MLogger(__name__, level=MLogger.TEST)
# motion = VmdReader("D:\\MMD\\MikuMikuDance_v926x64\\UserFile\\Motion\\ダンス_1人\\桃源恋歌配布用motion moka\\ノーマルTda式用0-2000.vmd").read_data()
model = PmxReader(
"D:\\MMD\\MikuMikuDance_v926x64\\UserFile\\Model\\VOCALOID\\初音ミク\\Tda式初音ミク・アペンドVer1.10\\Tda式初音ミク・アペンド_Ver1.10.pmx",
is_check=False).read_data()
bone_axis_dict = {}
for bone_name in ["左ひじ", "右ひじ"]:
local_x_axis = model.get_local_x_axis("左ひじ")
local_z_axis = MVector3D(0, 0, -1)
local_y_axis = MVector3D.crossProduct(local_x_axis,
local_z_axis).normalized()
bone_axis_dict[bone_name] = {
"x": local_x_axis,
"y": local_y_axis,
"z": local_z_axis
}
new_ik_qq = MQuaternion.fromEulerAngles(24.58152072747821,
135.9182003500461,
56.36785502950723)
ik_bone = model.bones["左ひじ"]
fno = 394
x_qq, y_qq, z_qq, yz_qq = MServiceUtils.separate_local_qq(
fno, ik_bone.name, new_ik_qq, bone_axis_dict[ik_bone.name]["x"])
logger.debug(
f"now: {new_ik_qq.toEulerAngles()} -> {(y_qq * x_qq * z_qq).toEulerAngles()}"
)
logger.debug(
f"now: x: {x_qq.toDegree()}, y: {y_qq.toDegree()}, z: {z_qq.toDegree()}"
)
for (x_sign, y_sign,
z_sign) in list(itertools.product((1, -1), (1, -1), (1, -1))):
new_x_qq = MQuaternion.fromAxisAndAngle(x_qq.vector(),
x_qq.toDegree() * x_sign)
new_y_qq = MQuaternion.fromAxisAndAngle(y_qq.vector(),
y_qq.toDegree() * y_sign)
new_z_qq = MQuaternion.fromAxisAndAngle(z_qq.vector(),
z_qq.toDegree() * z_sign)
logger.debug(
f"x: {x_sign}, y: {y_sign}, z: {z_sign} -> {(new_y_qq * new_x_qq * new_z_qq).toEulerAngles()}"
)
self.assertTrue(True)
def interpolate_rot_circle(self, prev_bf: VmdBoneFrame,
now_bf: VmdBoneFrame, next_bf: VmdBoneFrame,
target_bf: VmdBoneFrame, local_axis: MVector3D):
if local_axis != MVector3D():
# 軸がある場合、その方向に回す
p_qq = MQuaternion.fromAxisAndAngle(local_axis,
prev_bf.rotation.toDegree())
w_qq = MQuaternion.fromAxisAndAngle(local_axis,
now_bf.rotation.toDegree())
n_qq = MQuaternion.fromAxisAndAngle(local_axis,
next_bf.rotation.toDegree())
p = p_qq.toEulerAngles()
w = w_qq.toEulerAngles()
n = n_qq.toEulerAngles()
else:
p_qq = prev_bf.rotation.copy()
w_qq = now_bf.rotation.copy()
n_qq = next_bf.rotation.copy()
# 軸がない場合、そのまま回転
p = p_qq.toEulerAngles()
w = w_qq.toEulerAngles()
n = n_qq.toEulerAngles()
if target_bf.fno < now_bf.fno:
# 変化量
t = (target_bf.fno - prev_bf.fno) / (now_bf.fno - prev_bf.fno)
# デフォルト値
d_qq = MQuaternion.slerp(p_qq, w_qq, t)
d = d_qq.toEulerAngles()
out = interpolate_vec3(p, w, n, d, t, target_bf.fno)
else:
# 変化量
t = (target_bf.fno - now_bf.fno) / (next_bf.fno - now_bf.fno)
# デフォルト値
d_qq = MQuaternion.slerp(w_qq, n_qq, t)
d = d_qq.toEulerAngles()
out = interpolate_vec3(w, n, p, d, t, target_bf.fno)
out_qq = MQuaternion.fromEulerAngles(out.x(), out.y(), out.z())
if local_axis != MVector3D():
# 回転を元に戻す
if target_bf.fno < now_bf.fno:
d2_qq = MQuaternion.slerp(prev_bf.rotation, now_bf.rotation, t)
else:
d2_qq = MQuaternion.slerp(now_bf.rotation, next_bf.rotation, t)
result_qq = (d_qq.inverted() * out_qq * d2_qq)
else:
result_qq = out_qq
target_bf.rotation = result_qq
def test_MMatrix4x4_rotate(self):
mat = MMatrix4x4()
mat.setToIdentity()
mat.translate(MVector3D(1, 2, 3))
mat.rotate(MQuaternion.fromEulerAngles(10, 20, 30))
print(mat)
def __init__(self, fno=0):
self.name = ''
self.bname = ''
self.fno = fno
self.position = MVector3D()
self.rotation = MQuaternion()
self.org_position = MVector3D()
self.org_rotation = MQuaternion()
self.interpolation = [20, 20, 0, 0, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 20, 20, 20, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 0, 20, 20, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 0, 0, 20, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 0, 0, 0] # noqa
self.org_interpolation = [20, 20, 0, 0, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 20, 20, 20, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 0, 20, 20, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 0, 0, 20, 20, 20, 20, 20, 107, 107, 107, 107, 107, 107, 107, 107, 0, 0, 0] # noqa
# 登録対象であるか否か
self.key = False
# VMD読み込み処理で読み込んだキーか
self.read = False
# 接触回避の方向
self.avoidance = ""
def is_active_bones(self, bone_name):
for bf in self.bones[bone_name].values():
if bf.position != MVector3D():
return True
if bf.rotation != MQuaternion():
return True
return False
def calc_camera_qq(self, cf: VmdCameraFrame):
# カメラ角度
camera_qq = MQuaternion.fromEulerAngles(-cf.euler.x(), cf.euler.y(),
cf.euler.z())
camera_qq.setX(-camera_qq.x())
camera_qq.setScalar(-camera_qq.scalar())
return camera_qq
def calc_bf_rot(self, prev_bf: VmdBoneFrame, fill_bf: VmdBoneFrame, next_bf: VmdBoneFrame):
if prev_bf.rotation != next_bf.rotation:
# 回転補間曲線
rx, ry, rt = MBezierUtils.evaluate(next_bf.interpolation[MBezierUtils.R_x1_idxs[3]], next_bf.interpolation[MBezierUtils.R_y1_idxs[3]], \
next_bf.interpolation[MBezierUtils.R_x2_idxs[3]], next_bf.interpolation[MBezierUtils.R_y2_idxs[3]], \
prev_bf.fno, fill_bf.fno, next_bf.fno)
return MQuaternion.slerp(prev_bf.rotation, next_bf.rotation, ry)
return prev_bf.rotation.copy()
def smooth_filter_bf(self, data_set_no: int, bone_name: str, is_rot: bool, is_mov: bool, loop=1, \
config={"freq": 30, "mincutoff": 0.3, "beta": 0.01, "dcutoff": 0.25}, start_fno=-1, end_fno=-1, is_show_log=True):
for n in range(loop):
# 移動用フィルタ
pxfilter = OneEuroFilter(**config)
pyfilter = OneEuroFilter(**config)
pzfilter = OneEuroFilter(**config)
# 回転用フィルタ
rxfilter = OneEuroFilter(**config)
ryfilter = OneEuroFilter(**config)
rzfilter = OneEuroFilter(**config)
fnos = self.get_bone_fnos(bone_name)
prev_sep_fno = 0
# キーフレを取得する
if start_fno < 0 and end_fno < 0:
# 範囲指定がない場合、全範囲
fnos = self.get_bone_fnos(bone_name)
else:
# 範囲指定がある場合はその範囲内だけ
fnos = self.get_bone_fnos(bone_name, start_fno=start_fno, end_fno=end_fno)
# 全区間をフィルタにかける
for fno in fnos:
now_bf = self.calc_bf(bone_name, fno)
if is_mov:
# 移動XYZそれぞれにフィルターをかける
px = pxfilter(now_bf.position.x(), fno)
py = pyfilter(now_bf.position.y(), fno)
pz = pzfilter(now_bf.position.z(), fno)
now_bf.position = MVector3D(px, py, pz)
if is_rot:
# 回転XYZそれぞれにフィルターをかける(オイラー角)
now_qq = now_bf.rotation
r = now_qq.toEulerAngles()
rx = rxfilter(r.x(), fno)
ry = ryfilter(r.y(), fno)
rz = rzfilter(r.z(), fno)
# クォータニオンに戻して保持
new_qq = MQuaternion.fromEulerAngles(rx, ry, rz)
now_bf.rotation = new_qq
if is_show_log and data_set_no > 0 and fno // 1000 > prev_sep_fno and fnos[-1] > 0:
logger.info("-- %sフレーム目:終了(%s％)【No.%s - フィルタリング - %s(%s)】", fno, round((fno / fnos[-1]) * 100, 3), data_set_no, bone_name, (n + 1))
prev_sep_fno = fno // 1000
def test_MQuaternion_rotationTo(self):
# base_v = MVector3D(2.617903093134025, 17.718517382408315, -0.12363630515345259)
from_v = MVector3D(3.1009119396999303, 18.20660094549826, 0.3268970645363245)
new_to_v = MVector3D(3.8692103699906015, 17.718517382408315, -0.12363630515345259)
old_to_v = MVector3D(3.7909166767007814, 17.28083485225695, 1.101139547122786)
new_from_v = new_to_v - from_v
print(new_from_v)
old_from_v = old_to_v - from_v
print(old_from_v)
qq1 = MQuaternion.rotationTo(new_from_v, old_from_v)
print(qq1.toEulerAngles4MMD())
def get_differ_fnos(self, data_set_no: int, bone_name_list: str, limit_degrees: float, limit_length: float):
limit_radians = math.cos(math.radians(limit_degrees))
fnos = [0]
for bone_name in bone_name_list:
prev_sep_fno = 0
# 有効キーを取得
bone_fnos = self.get_bone_fnos(bone_name, is_key=True)
if len(bone_fnos) <= 0:
continue
before_bf = self.calc_bf(bone_name, 0) # 比較対象bf
for fno in range(1, bone_fnos[-1]):
bf = self.calc_bf(bone_name, fno)
if bf.read:
# 読み込みキーである場合、必ず処理対象に追加
fnos.append(fno)
# 前回キーとして保持
before_bf = bf.copy()
else:
# 読み込みキーではない場合、処理対象にするかチェック
# 読み込みキーとの差
dot = MQuaternion.dotProduct(before_bf.rotation, bf.rotation)
if dot < limit_radians:
# 前と今回の内積の差が指定度数より離れている場合、追加
logger.test("★ 追加 set: %s, %s, f: %s, dot: %s", data_set_no, bone_name, fno, dot)
fnos.append(fno)
# 前回キーとして保持
before_bf = bf.copy()
# 読み込みキーとの差
diff = before_bf.position.distanceToPoint(bf.position)
if diff > limit_length:
# 前と今回の移動量の差が指定値より離れている場合、追加
logger.test("★ 追加 set: %s, %s, f: %s, dot: %s", data_set_no, bone_name, fno, dot)
fnos.append(fno)
# 前回キーとして保持
before_bf = bf.copy()
if data_set_no > 0 and fno // 500 > prev_sep_fno and bone_fnos[-1] > 0:
logger.info("-- %sフレーム目:終了(%s％)【No.%s - キーフレ追加準備 - %s】", fno, round((fno / bone_fnos[-1]) * 100, 3), data_set_no, bone_name)
prev_sep_fno = fno // 500
# 重複を除いて再計算
return sorted(list(set(fnos)))
def test_stance_shoulder_01(self):
arm_slope = MVector3D(-1.837494969367981, 18.923479080200195,
0.4923856854438782)
shoulder_slope = MVector3D(-0.8141360282897949, 19.6701602935791,
0.4931679964065552)
neck_base = MVector3D(0.0, 18.923479080200195, 0.4923856854438782)
# 傾きパターン
test_slope_param = [arm_slope, shoulder_slope, neck_base]
slope_test_params = list(itertools.product(test_slope_param, repeat=2))
# random.shuffle(slope_test_params)
# 数値パターン
test_number_param = [0, -1, 1]
number_test_params = list(
itertools.product(test_number_param, repeat=3))
# random.shuffle(number_test_params)
target_test_params = list(
itertools.product(slope_test_params, number_test_params))
for param in target_test_params:
print("------------------")
print("param[0][0]: %s" % param[0][0])
print("param[0][1]: %s" % param[0][1])
print("param[1][0]: %s" % param[1][0])
print("param[1][1]: %s" % param[1][1])
print("param[1][2]: %s" % param[1][2])
rep_shoulder_slope = (param[0][0] - param[0][1]).normalized()
rep_shoulder_slope_up = MVector3D(param[1][0], param[1][1],
param[1][2])
rep_shoulder_slope_cross = MVector3D.crossProduct(
rep_shoulder_slope, rep_shoulder_slope_up).normalized()
rep_shoulder_initial_slope_qq = MQuaternion.fromDirection(
rep_shoulder_slope, rep_shoulder_slope_cross)
print("rep_shoulder_slope: %s" % rep_shoulder_slope)
print("rep_shoulder_slope_up: %s" % rep_shoulder_slope_up)
print("qq: %s" % rep_shoulder_initial_slope_qq.toEulerAngles())
self.assertTrue(True)
def convert_vmd(self):
dt_now = datetime.now()
bone_fpath = None
bone_motion = VmdMotion()
if self.options.bone_csv_path and os.path.exists(self.options.bone_csv_path):
# ボーンモーションCSVディレクトリパス
motion_csv_dir_path = MFileUtils.get_dir_path(self.options.bone_csv_path)
# ボーンモーションCSVファイル名・拡張子
motion_csv_file_name, _ = os.path.splitext(os.path.basename(self.options.bone_csv_path))
bone_fpath = "{0}\\{1}_bone_{2:%Y%m%d_%H%M%S}.vmd".format(motion_csv_dir_path, motion_csv_file_name, dt_now)
# ボーンCSV読み込み
with open(self.options.bone_csv_path, encoding='cp932', mode='r') as f:
reader = csv.reader(f)
next(reader) # ヘッダーを読み飛ばす
cnt = 0
for row in reader:
bf = VmdBoneFrame()
# ボーン名
bf.set_name(row[0])
# フレーム
bf.fno = int(float(row[1]))
# 位置
bf.position = MVector3D(float(row[2]), float(row[3]), float(row[4]))
# 回転
bf.rotation = MQuaternion.fromEulerAngles(float(row[5]), float(row[6]) * -1, float(row[7]) * -1)
# 補間曲線
# 補間曲線(一旦floatで読み込んで指数等も読み込んだ後、intに変換)
bf.interpolation = [int(float(row[8])), int(float(row[9])), int(float(row[10])), int(float(row[11])), int(float(row[12])), int(float(row[13])), \
int(float(row[14])), int(float(row[15])), int(float(row[16])), int(float(row[17])), int(float(row[18])), int(float(row[19])), \
int(float(row[20])), int(float(row[21])), int(float(row[22])), int(float(row[23])), int(float(row[24])), int(float(row[25])), \
int(float(row[26])), int(float(row[27])), int(float(row[28])), int(float(row[29])), int(float(row[30])), int(float(row[31])), \
int(float(row[32])), int(float(row[33])), int(float(row[34])), int(float(row[35])), int(float(row[36])), int(float(row[37])), \
int(float(row[38])), int(float(row[39])), int(float(row[40])), int(float(row[41])), int(float(row[42])), int(float(row[43])), \
int(float(row[44])), int(float(row[45])), int(float(row[46])), int(float(row[47])), int(float(row[48])), int(float(row[49])), \
int(float(row[50])), int(float(row[51])), int(float(row[52])), int(float(row[53])), int(float(row[54])), int(float(row[55])), \
int(float(row[56])), int(float(row[57])), int(float(row[58])), int(float(row[59])), int(float(row[60])), int(float(row[61])), \
int(float(row[62])), int(float(row[63])), int(float(row[64])), int(float(row[65])), int(float(row[66])), int(float(row[67])), \
int(float(row[68])), int(float(row[69])), int(float(row[70])), int(float(row[71]))]
bf.read = True
bf.key = True
if bf.name not in bone_motion.bones:
bone_motion.bones[bf.name] = {}
bone_motion.bones[bf.name][bf.fno] = bf
cnt += 1
if cnt % 10000 == 0:
logger.info("[ボーン] %sキー目:終了", cnt)
if self.options.morph_csv_path and os.path.exists(self.options.morph_csv_path):
# モーフモーションCSVディレクトリパス
motion_csv_dir_path = MFileUtils.get_dir_path(self.options.morph_csv_path)
# モーフモーションCSVファイル名・拡張子
motion_csv_file_name, _ = os.path.splitext(os.path.basename(self.options.morph_csv_path))
if not bone_fpath:
bone_fpath = "{0}\\{1}_morph_{2:%Y%m%d_%H%M%S}.vmd".format(motion_csv_dir_path, motion_csv_file_name, dt_now)
# モーフCSV読み込み
with open(self.options.morph_csv_path, encoding='cp932', mode='r') as f:
reader = csv.reader(f)
next(reader) # ヘッダーを読み飛ばす
cnt = 0
for row in reader:
mf = VmdMorphFrame()
# ボーン名
mf.set_name(row[0])
# フレーム
mf.fno = int(float(row[1]))
# 位置
mf.ratio = float(row[2])
if mf.name not in bone_motion.morphs:
bone_motion.morphs[mf.name] = {}
bone_motion.morphs[mf.name][mf.fno] = mf
cnt += 1
if cnt % 1000 == 0:
logger.info("[モーフ] %sキー目:終了", cnt)
if len(bone_motion.bones.keys()) > 0 or len(bone_motion.morphs.keys()) > 0:
# ボーンかモーフのキーがある場合、まとめて出力
model = PmxModel()
model.name = "CSV Convert Model"
data_set = MOptionsDataSet(bone_motion, None, model, bone_fpath, False, False, [], None, None, [])
VmdWriter(data_set).write()
logger.info("ボーン・モーフモーションVMD: %s", bone_fpath, decoration=MLogger.DECORATION_BOX)
if self.options.camera_csv_path and os.path.exists(self.options.camera_csv_path):
# カメラモーションCSVディレクトリパス
motion_csv_dir_path = MFileUtils.get_dir_path(self.options.camera_csv_path)
# カメラモーションCSVファイル名・拡張子
motion_csv_file_name, _ = os.path.splitext(os.path.basename(self.options.camera_csv_path))
camera_fpath = "{0}\\{1}_camera_{2:%Y%m%d_%H%M%S}.vmd".format(motion_csv_dir_path, motion_csv_file_name, dt_now)
camera_motion = VmdMotion()
# カメラCSV読み込み
with open(self.options.camera_csv_path, encoding='cp932', mode='r') as f:
reader = csv.reader(f)
next(reader) # ヘッダーを読み飛ばす
cnt = 0
for row in reader:
cf = VmdCameraFrame()
# フレーム
cf.fno = int(row[0])
# 位置
cf.position = MVector3D(float(row[1]), float(row[2]), float(row[3]))
# 回転（オイラー角）
cf.euler = MVector3D(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.interpolation = [int(float(row[10])), int(float(row[11])), int(float(row[12])), int(float(row[13])), int(float(row[14])), int(float(row[15])), \
int(float(row[16])), int(float(row[17])), int(float(row[18])), int(float(row[19])), int(float(row[20])), int(float(row[21])), \
int(float(row[22])), int(float(row[23])), int(float(row[24])), int(float(row[25])), int(float(row[26])), int(float(row[27])), \
int(float(row[28])), int(float(row[29])), int(float(row[30])), int(float(row[31])), int(float(row[32])), int(float(row[33]))]
camera_motion.cameras[cf.fno] = cf
cnt += 1
if cnt % 500 == 0:
logger.info("[カメラ] %sキー目:終了", cnt)
if len(camera_motion.cameras) > 0:
# ボーンかモーフのキーがある場合、まとめて出力
model = PmxModel()
model.name = "カメラ・照明"
data_set = MOptionsDataSet(camera_motion, None, model, camera_fpath, False, False, [], None, None, [])
VmdWriter(data_set).write()
logger.info("カメラモーションVMD: %s", camera_fpath, decoration=MLogger.DECORATION_BOX)
return True
def deform_rotation(model: PmxModel, motion: VmdMotion, bf: VmdBoneFrame):
if bf.name not in model.bones:
return MQuaternion()
bone = model.bones[bf.name]
rot = bf.rotation.normalized().copy()
if bone.fixed_axis != MVector3D():
# 回転角度を求める
if rot != MQuaternion():
# 回転補正
if "右" in bone.name and rot.x() > 0 and bone.fixed_axis.x() <= 0:
rot.setX(rot.x() * -1)
rot.setScalar(rot.scalar() * -1)
elif "左" in bone.name and rot.x() < 0 and bone.fixed_axis.x() >= 0:
rot.setX(rot.x() * -1)
rot.setScalar(rot.scalar() * -1)
# 回転補正（コロン式ミクさん等軸反転パターン）
elif "右" in bone.name and rot.x() < 0 and bone.fixed_axis.x() > 0:
rot.setX(rot.x() * -1)
rot.setScalar(rot.scalar() * -1)
elif "左" in bone.name and rot.x() > 0 and bone.fixed_axis.x() < 0:
rot.setX(rot.x() * -1)
rot.setScalar(rot.scalar() * -1)
rot.normalize()
# 軸固定の場合、回転を制限する
rot = MQuaternion.fromAxisAndAngle(bone.fixed_axis, rot.toDegree())
if bone.getExternalRotationFlag(
) and bone.effect_index in model.bone_indexes:
effect_parent_bone = bone
effect_bone = model.bones[model.bone_indexes[bone.effect_index]]
cnt = 0
while cnt < 100:
# 付与親が取得できたら、該当する付与親の回転を取得する
effect_bf = motion.calc_bf(effect_bone.name, bf.fno)
# 自身の回転量に付与親の回転量を付与率を加味して付与する
if effect_parent_bone.effect_factor < 0:
# マイナス付与の場合、逆回転
rot = rot * (effect_bf.rotation *
abs(effect_parent_bone.effect_factor)).inverted()
else:
rot = rot * (effect_bf.rotation *
effect_parent_bone.effect_factor)
if effect_bone.getExternalRotationFlag(
) and effect_bone.effect_index in model.bone_indexes:
# 付与親の親として現在のeffectboneを保持
effect_parent_bone = effect_bone
# 付与親置き換え
effect_bone = model.bones[model.bone_indexes[
effect_bone.effect_index]]
else:
break
cnt += 1
return rot
def calc_global_pos(model: PmxModel,
links: BoneLinks,
motion: VmdMotion,
fno: int,
limit_links=None,
return_matrix=False,
is_local_x=False):
trans_vs = calc_relative_position(model, links, motion, fno, limit_links)
add_qs = calc_relative_rotation(model, links, motion, fno, limit_links)
# 行列
matrixs = [MMatrix4x4() for i in range(links.size())]
for n, (lname, v, q) in enumerate(zip(links.all().keys(), trans_vs,
add_qs)):
# 行列を生成
matrixs[n] = MMatrix4x4()
# 初期化
matrixs[n].setToIdentity()
# 移動
matrixs[n].translate(v)
# 回転
matrixs[n].rotate(q)
total_mats = {}
global_3ds_dic = OrderedDict()
for n, (lname, v) in enumerate(zip(links.all().keys(), trans_vs)):
if n == 0:
total_mats[lname] = MMatrix4x4()
total_mats[lname].setToIdentity()
for m in range(n):
# 最後のひとつ手前までループ
if m == 0:
# 0番目の位置を初期値とする
total_mats[lname] = matrixs[0].copy()
else:
# 自分より前の行列結果を掛け算する
total_mats[lname] *= matrixs[m].copy()
# 自分は、位置だけ掛ける
global_3ds_dic[lname] = total_mats[lname] * v
# 最後の行列をかけ算する
total_mats[lname] *= matrixs[n].copy()
# ローカル軸の向きを調整する
if n > 0 and is_local_x:
# ボーン自身にローカル軸が設定されているか
local_x_matrix = MMatrix4x4()
local_x_matrix.setToIdentity()
local_axis_qq = MQuaternion()
if model.bones[lname].local_x_vector == MVector3D():
# ローカル軸が設定されていない場合、計算
# 自身から親を引いた軸の向き
local_axis = model.bones[lname].position - links.get(
lname, offset=-1).position
local_axis_qq = MQuaternion.fromDirection(
local_axis.normalized(), MVector3D(0, 0, 1))
else:
# ローカル軸が設定されている場合、その値を採用
local_axis_qq = MQuaternion.fromDirection(
model.bones[lname].local_x_vector.normalized(),
MVector3D(0, 0, 1))
local_x_matrix.rotate(local_axis_qq)
total_mats[lname] *= local_x_matrix
if return_matrix:
# 行列も返す場合
return global_3ds_dic, total_mats
return global_3ds_dic
def calc_IK(model: PmxModel,
links: BoneLinks,
motion: VmdMotion,
fno: int,
target_pos: MVector3D,
ik_links: BoneLinks,
max_count=10):
for bone_name in list(ik_links.all().keys())[1:]:
# bfをモーションに登録
bf = motion.calc_bf(bone_name, fno)
motion.regist_bf(bf, bone_name, fno)
local_effector_pos = MVector3D()
local_target_pos = MVector3D()
for cnt in range(max_count):
# 規定回数ループ
for ik_idx, joint_name in enumerate(list(ik_links.all().keys())[1:]):
# 処理対象IKボーン
ik_bone = ik_links.get(joint_name)
# 現在のボーングローバル位置と行列を取得
global_3ds_dic, total_mats = calc_global_pos(model,
links,
motion,
fno,
return_matrix=True)
# エフェクタ（末端）
global_effector_pos = global_3ds_dic[ik_links.first_name()]
# 注目ノード（実際に動かすボーン）
joint_mat = total_mats[joint_name]
# ワールド座標系から注目ノードの局所座標系への変換
inv_coord = joint_mat.inverted()
# 注目ノードを起点とした、エフェクタのローカル位置
local_effector_pos = inv_coord * global_effector_pos
local_target_pos = inv_coord * target_pos
# (1) 基準関節→エフェクタ位置への方向ベクトル
basis2_effector = local_effector_pos.normalized()
# (2) 基準関節→目標位置への方向ベクトル
basis2_target = local_target_pos.normalized()
# ベクトル (1) を (2) に一致させるための最短回転量（Axis-Angle）
# 回転角
rotation_dot = MVector3D.dotProduct(basis2_effector, basis2_target)
# 回転角度
rotation_radian = math.acos(max(-1, min(1, rotation_dot)))
if abs(rotation_radian) > 0.0001:
# 一定角度以上の場合
# 回転軸
rotation_axis = MVector3D.crossProduct(
basis2_effector, basis2_target).normalized()
# 回転角度
rotation_degree = math.degrees(rotation_radian)
# 関節回転量の補正(最大変位量を制限する)
correct_qq = MQuaternion.fromAxisAndAngle(
rotation_axis, min(rotation_degree, ik_bone.degree_limit))
# ジョイントに補正をかける
bf = motion.calc_bf(joint_name, fno)
new_ik_qq = correct_qq * bf.rotation
# IK軸制限がある場合、上限下限をチェック
if ik_bone.ik_limit_min != MVector3D(
) and ik_bone.ik_limit_max != MVector3D():
x_qq, y_qq, z_qq, yz_qq = separate_local_qq(
fno, bone_name, new_ik_qq,
model.get_local_x_axis(ik_bone.name))
logger.test("new_ik_qq: %s, x_qq: %s, y_qq: %s, z_qq: %s",
new_ik_qq.toEulerAngles(),
x_qq.toEulerAngles(), y_qq.toEulerAngles(),
z_qq.toEulerAngles())
logger.test("new_ik_qq: %s, x_qq: %s, y_qq: %s, z_qq: %s",
new_ik_qq.toDegree(), x_qq.toDegree(),
y_qq.toDegree(), z_qq.toDegree())
euler_x = min(
ik_bone.ik_limit_max.x(),
max(ik_bone.ik_limit_min.x(), x_qq.toDegree()))
euler_y = min(
ik_bone.ik_limit_max.y(),
max(ik_bone.ik_limit_min.y(), y_qq.toDegree()))
euler_z = min(
ik_bone.ik_limit_max.z(),
max(ik_bone.ik_limit_min.z(), z_qq.toDegree()))
logger.test(
"limit_qq: %s -> %s", new_ik_qq.toEulerAngles(),
MQuaternion.fromEulerAngles(euler_x, euler_y,
euler_z).toEulerAngles())
new_ik_qq = MQuaternion.fromEulerAngles(
euler_x, euler_y, euler_z)
bf.rotation = new_ik_qq
# 位置の差がほとんどない場合、終了
if (local_effector_pos - local_target_pos).lengthSquared() < 0.0001:
return
return
def separate_local_qq(fno: int, bone_name: str, qq: MQuaternion,
global_x_axis: MVector3D):
# ローカル座標系（ボーンベクトルが（1，0，0）になる空間）の向き
local_axis = MVector3D(1, 0, 0)
# グローバル座標系（Ａスタンス）からローカル座標系（ボーンベクトルが（1，0，0）になる空間）への変換
global2local_qq = MQuaternion.rotationTo(global_x_axis, local_axis)
local2global_qq = MQuaternion.rotationTo(local_axis, global_x_axis)
# X成分を抽出する ------------
mat_x1 = MMatrix4x4()
mat_x1.setToIdentity() # 初期化
mat_x1.rotate(qq) # 入力qq
mat_x1.translate(global_x_axis) # グローバル軸方向に伸ばす
mat_x1_vec = mat_x1 * MVector3D()
# YZの回転量（自身のねじれを無視する）
yz_qq = MQuaternion.rotationTo(global_x_axis, mat_x1_vec)
# 除去されたX成分を求める
mat_x2 = MMatrix4x4()
mat_x2.setToIdentity() # 初期化
mat_x2.rotate(qq) # 元々の回転量
mat_x3 = MMatrix4x4()
mat_x3.setToIdentity() # 初期化
mat_x3.rotate(yz_qq) # YZの回転量
x_qq = (mat_x2 * mat_x3.inverted()).toQuaternion()
# YZ回転からZ成分を抽出する --------------
mat_z1 = MMatrix4x4()
mat_z1.setToIdentity() # 初期化
mat_z1.rotate(yz_qq) # YZの回転量
mat_z1.rotate(global2local_qq) # グローバル軸の回転量からローカルの回転量に変換
mat_z1.translate(local_axis) # ローカル軸方向に伸ばす
mat_z1_vec = mat_z1 * MVector3D()
mat_z1_vec.setZ(0) # Z方向の移動量を潰す
# ローカル軸からZを潰した移動への回転量
local_z_qq = MQuaternion.rotationTo(local_axis, mat_z1_vec)
# ボーンローカル座標系の回転をグローバル座標系の回転に戻す
mat_z2 = MMatrix4x4()
mat_z2.setToIdentity() # 初期化
mat_z2.rotate(local_z_qq) # ローカル軸上のZ回転
mat_z2.rotate(local2global_qq) # ローカル軸上からグローバル軸上に変換
z_qq = mat_z2.toQuaternion()
# YZ回転からY成分だけ取り出す -----------
mat_y1 = MMatrix4x4()
mat_y1.setToIdentity() # 初期化
mat_y1.rotate(yz_qq) # グローバルYZの回転量
mat_y2 = MMatrix4x4()
mat_y2.setToIdentity() # 初期化
mat_y2.rotate(z_qq) # グローバルZの回転量
mat_y2_qq = (mat_y1 * mat_y2.inverted()).toQuaternion()
# X成分の捻れが混入したので、XY回転からYZ回転を取り出すことでXキャンセルをかける。
mat_y3 = MMatrix4x4()
mat_y3.setToIdentity()
mat_y3.rotate(mat_y2_qq)
mat_y3.translate(global_x_axis)
mat_y3_vec = mat_y3 * MVector3D()
y_qq = MQuaternion.rotationTo(global_x_axis, mat_y3_vec)
return x_qq, y_qq, z_qq, yz_qq
def read_Quaternion(self):
x = self.read_float()
y = self.read_float()
z = self.read_float()
scalar = self.read_float()
return MQuaternion(scalar, x, y, z)
def is_loaded_valid(self):
if self.set_no == 0:
# CSVとかのファイルは番号出力なし
display_set_no = ""
else:
display_set_no = "{0}番目の".format(self.set_no)
# 両方のPMXが読めて、モーションも読み込めた場合、キーチェック
not_org_bones = []
not_org_morphs = []
not_rep_bones = []
not_rep_morphs = []
mismatch_bones = []
motion = self.motion_vmd_file_ctrl.data
org_pmx = self.org_model_file_ctrl.data
rep_pmx = self.rep_model_file_ctrl.data
if not motion or not org_pmx or not rep_pmx:
# どれか読めてなければそのまま終了
return True
if motion.motion_cnt == 0:
logger.warning("%sボーンモーションデータにキーフレームが登録されていません。",
display_set_no,
decoration=MLogger.DECORATION_BOX)
return True
result = True
is_warning = False
# ボーン
for k in motion.bones.keys():
bone_fnos = motion.get_bone_fnos(k)
for fno in bone_fnos:
if motion.bones[k][fno].position != MVector3D(
) or motion.bones[k][fno].rotation != MQuaternion():
# キーが存在しており、かつ初期値ではない値が入っている場合、警告対象
if k not in org_pmx.bones:
not_org_bones.append(k)
if k not in rep_pmx.bones:
not_rep_bones.append(k)
if k in org_pmx.bones and k in rep_pmx.bones:
mismatch_types = []
# 両方にボーンがある場合、フラグが同じであるかチェック
if org_pmx.bones[k].getRotatable(
) != rep_pmx.bones[k].getRotatable():
mismatch_types.append("性能:回転")
if org_pmx.bones[k].getTranslatable(
) != rep_pmx.bones[k].getTranslatable():
mismatch_types.append("性能:移動")
if org_pmx.bones[k].getIkFlag(
) != rep_pmx.bones[k].getIkFlag():
mismatch_types.append("性能:IK")
if org_pmx.bones[k].getVisibleFlag(
) != rep_pmx.bones[k].getVisibleFlag():
mismatch_types.append("性能:表示")
if org_pmx.bones[k].getManipulatable(
) != rep_pmx.bones[k].getManipulatable():
mismatch_types.append("性能:操作")
if org_pmx.bones[k].display != rep_pmx.bones[k].display:
mismatch_types.append("表示枠")
if len(mismatch_types) > 0:
mismatch_bones.append(
f"{k} 【差異】{', '.join(mismatch_types)}）")
# 1件あればOK
break
for k in motion.morphs.keys():
morph_fnos = motion.get_morph_fnos(k)
for fno in morph_fnos:
if motion.morphs[k][fno].ratio != 0:
# キーが存在しており、かつ初期値ではない値が入っている場合、警告対象
if k not in org_pmx.morphs:
not_org_morphs.append(k)
if k not in rep_pmx.morphs:
not_rep_morphs.append(k)
# 1件あればOK
break
if len(not_org_bones) > 0 or len(not_org_morphs) > 0:
logger.warning("%s%sに、モーションで使用されているボーン・モーフが不足しています。\nモデル: %s\n不足ボーン: %s\n不足モーフ: %s", \
display_set_no, self.org_model_file_ctrl.title, org_pmx.name, ",".join(not_org_bones), ",".join(not_org_morphs), decoration=MLogger.DECORATION_BOX)
is_warning = True
if len(not_rep_bones) > 0 or len(not_rep_morphs) > 0:
logger.warning("%s%sに、モーションで使用されているボーン・モーフが不足しています。\nモデル: %s\n不足ボーン: %s\n不足モーフ: %s", \
display_set_no, self.rep_model_file_ctrl.title, rep_pmx.name, ",".join(not_rep_bones), ",".join(not_rep_morphs), decoration=MLogger.DECORATION_BOX)
is_warning = True
if len(mismatch_bones) > 0:
logger.warning("%s%sで、モーションで使用されているボーンの性能等が異なっています。\nモデル: %s\n差異ボーン:\n %s", \
display_set_no, self.rep_model_file_ctrl.title, rep_pmx.name, "\n ".join(mismatch_bones), decoration=MLogger.DECORATION_BOX)
is_warning = True
if not is_warning:
logger.info("モーションで使用されているボーン・モーフが揃っています。",
decoration=MLogger.DECORATION_BOX,
title="OK")
return result
def split_bf(self, fno: int, bf: VmdBoneFrame, local_x_axis: MVector3D,
bone_name: str, rrxbn: str, rrybn: str, rrzbn: str,
rmxbn: str, rmybn: str, rmzbn: str):
motion = self.options.motion
model = self.options.model
if model.bones[bone_name].getRotatable():
# 回転を分ける
if local_x_axis:
# ローカルX軸がある場合
x_qq, y_qq, z_qq, _ = MServiceUtils.separate_local_qq(
fno, bone_name, bf.rotation, local_x_axis)
else:
# ローカルX軸の指定が無い場合、グローバルで分ける
euler = bf.rotation.toEulerAngles()
x_qq = MQuaternion.fromEulerAngles(euler.x(), 0, 0)
y_qq = MQuaternion.fromEulerAngles(0, euler.y(), 0)
z_qq = MQuaternion.fromEulerAngles(0, 0, euler.z())
logger.debug(
f"fno: {fno}, x_qq: {x_qq.toEulerAngles4MMD().to_log()}, y_qq: {y_qq.toEulerAngles4MMD().to_log()}, z_qq: {z_qq.toEulerAngles4MMD().to_log()}"
)
if len(rrybn) > 0:
ry_bf = motion.calc_bf(rrybn, fno)
ry_bf.rotation = y_qq * ry_bf.rotation
motion.regist_bf(ry_bf, ry_bf.name, fno)
# 減算
bf.rotation *= y_qq.inverted()
if len(rrxbn) > 0:
rx_bf = motion.calc_bf(rrxbn, fno)
rx_bf.rotation = x_qq * rx_bf.rotation
motion.regist_bf(rx_bf, rx_bf.name, fno)
# 減算
bf.rotation *= x_qq.inverted()
if len(rrzbn) > 0:
rz_bf = motion.calc_bf(rrzbn, fno)
rz_bf.rotation = z_qq * rz_bf.rotation
motion.regist_bf(rz_bf, rz_bf.name, fno)
# 減算
bf.rotation *= z_qq.inverted()
if len(rrxbn) > 0 and len(rrybn) > 0 and len(rrzbn) > 0:
bf.rotation = MQuaternion()
motion.regist_bf(bf, bf.name, fno)
if model.bones[bone_name].getTranslatable():
# 移動を分ける
if len(rmxbn) > 0:
mx_bf = motion.calc_bf(rmxbn, fno)
mx_bf.position.setX(mx_bf.position.x() + bf.position.x())
motion.regist_bf(mx_bf, mx_bf.name, fno)
# 減算
bf.position.setX(0)
if len(rmybn) > 0:
my_bf = motion.calc_bf(rmybn, fno)
my_bf.position.setY(my_bf.position.y() + bf.position.y())
motion.regist_bf(my_bf, my_bf.name, fno)
# 減算
bf.position.setY(0)
if len(rmzbn) > 0:
mz_bf = motion.calc_bf(rmzbn, fno)
mz_bf.position.setZ(mz_bf.position.z() + bf.position.z())
motion.regist_bf(mz_bf, mz_bf.name, fno)
# 減算
bf.position.setZ(0)
if len(rmxbn) > 0 and len(rmybn) > 0 and len(rmzbn) > 0:
bf.position = MVector3D()
motion.regist_bf(bf, bf.name, fno)
def convert_multi_split(self, bone_name: str, rrxbn: str, rrybn: str,
rrzbn: str, rmxbn: str, rmybn: str, rmzbn: str,
center_mx: str, center_my: str, center_mz: str):
logger.info("多段分割【%s】", bone_name, decoration=MLogger.DECORATION_LINE)
motion = self.options.motion
model = self.options.model
# 事前に変化量全打ち
if bone_name == "センター" or bone_name == "グルーブ":
fnos = self.prev_motion.get_differ_fnos(0, ["センター", "グルーブ"],
limit_degrees=70,
limit_length=1)
else:
fnos = self.prev_motion.get_differ_fnos(0, [bone_name],
limit_degrees=70,
limit_length=1)
if len(fnos) == 0:
return
prev_sep_fno = 0
for fno in fnos:
# 一度そのままキーを登録
motion.regist_bf(motion.calc_bf(bone_name, fno), bone_name, fno)
# 補間曲線のため、もう一度取得しなおし
bf = motion.calc_bf(bone_name, fno)
if model.bones[bone_name].getRotatable():
rx_bf = motion.calc_bf(rrxbn, fno)
motion.copy_interpolation(bf, rx_bf, MBezierUtils.BZ_TYPE_R)
motion.regist_bf(rx_bf,
rx_bf.name,
fno,
copy_interpolation=True)
ry_bf = motion.calc_bf(rrybn, fno)
motion.copy_interpolation(bf, ry_bf, MBezierUtils.BZ_TYPE_R)
motion.regist_bf(ry_bf,
ry_bf.name,
fno,
copy_interpolation=True)
rz_bf = motion.calc_bf(rrzbn, fno)
motion.copy_interpolation(bf, rz_bf, MBezierUtils.BZ_TYPE_R)
motion.regist_bf(rz_bf,
rz_bf.name,
fno,
copy_interpolation=True)
if model.bones[bone_name].getTranslatable():
mx_bf = motion.calc_bf(rmxbn, fno)
motion.copy_interpolation(bf, mx_bf, MBezierUtils.BZ_TYPE_MX)
motion.regist_bf(mx_bf,
mx_bf.name,
fno,
copy_interpolation=True)
my_bf = motion.calc_bf(rmybn, fno)
motion.copy_interpolation(bf, my_bf, MBezierUtils.BZ_TYPE_MY)
motion.regist_bf(my_bf,
my_bf.name,
fno,
copy_interpolation=True)
mz_bf = motion.calc_bf(rmzbn, fno)
motion.copy_interpolation(bf, mz_bf, MBezierUtils.BZ_TYPE_MZ)
motion.regist_bf(mz_bf,
mz_bf.name,
fno,
copy_interpolation=True)
if fno // 500 > prev_sep_fno and fnos[-1] > 0:
logger.info("-- %sフレーム目:終了(%s％)【キーフレ追加 - %s】", fno,
round((fno / fnos[-1]) * 100, 3), bone_name)
prev_sep_fno = fno // 500
logger.info("分割準備完了【%s】",
bone_name,
decoration=MLogger.DECORATION_LINE)
# ローカルX軸
local_x_axis = model.bones[bone_name].local_x_vector
if local_x_axis == MVector3D(1, 0, 0) or local_x_axis == MVector3D():
# 指定が無い場合、腕系はローカルX軸、それ以外はノーマル
if "腕" in bone_name or "ひじ" in bone_name or "手首" in bone_name:
local_x_axis = model.get_local_x_axis(bone_name)
else:
local_x_axis = None
logger.debug(f"{bone_name}, local_x_axis: {local_x_axis}")
prev_sep_fno = 0
for fno in fnos:
bf = motion.calc_bf(bone_name, fno)
# 多段分割
self.split_bf(fno, bf, local_x_axis, bone_name, rrxbn, rrybn,
rrzbn, rmxbn, rmybn, rmzbn)
if fno // 500 > prev_sep_fno and fnos[-1] > 0:
logger.info("-- %sフレーム目:終了(%s％)【多段分割 - %s】", fno,
round((fno / fnos[-1]) * 100, 3), bone_name)
prev_sep_fno = fno // 500
check_fnos = []
check_prev_next_fnos = {}
# 分離後に乖離起こしてないかチェック
for fno_idx, (prev_fno,
next_fno) in enumerate(zip(fnos[:-1], fnos[1:])):
fno = int(prev_fno + ((next_fno - prev_fno) / 2))
if fno not in fnos:
check_fnos.append(fno)
check_prev_next_fnos[fno] = {
"prev": prev_fno,
"next": next_fno
}
check_fnos = list(sorted(list(set(check_fnos))))
logger.debug("bone_name: %s, check_fnos: %s", bone_name, check_fnos)
prev_sep_fno = 0
for fno in check_fnos:
is_subdiv = False
prev_motion_bf = self.prev_motion.calc_bf(bone_name, fno).copy()
if model.bones[bone_name].getRotatable():
# 回転を分ける
if local_x_axis:
# ローカルX軸がある場合
x_qq, y_qq, z_qq, _ = MServiceUtils.separate_local_qq(
fno, bone_name, prev_motion_bf.rotation, local_x_axis)
else:
# ローカルX軸の指定が無い場合、グローバルで分ける
euler = prev_motion_bf.rotation.toEulerAngles()
x_qq = MQuaternion.fromEulerAngles(euler.x(), 0, 0)
y_qq = MQuaternion.fromEulerAngles(0, euler.y(), 0)
z_qq = MQuaternion.fromEulerAngles(0, 0, euler.z())
if len(rrxbn) > 0:
rx_bf = motion.calc_bf(rrxbn, fno)
dot = MQuaternion.dotProduct(x_qq.normalized(),
rx_bf.rotation.normalized())
if dot < 0.98:
is_subdiv = True
if len(rrybn) > 0:
ry_bf = motion.calc_bf(rrybn, fno)
dot = MQuaternion.dotProduct(y_qq.normalized(),
ry_bf.rotation.normalized())
if dot < 0.98:
is_subdiv = True
if len(rrzbn) > 0:
rz_bf = motion.calc_bf(rrzbn, fno)
dot = MQuaternion.dotProduct(z_qq.normalized(),
rz_bf.rotation.normalized())
if dot < 0.98:
is_subdiv = True
if model.bones[bone_name].getTranslatable():
if len(center_mx) > 0 or len(center_my) > 0 or len(
center_mz) > 0:
# センターとグルーブを両方分割してる場合
prev_center_motion_bf = self.prev_motion.calc_bf(
"センター", fno).copy()
if len(center_mx) > 0 and rmxbn == center_mx:
prev_motion_bf.position.setX(
prev_motion_bf.position.x() +
prev_center_motion_bf.position.x())
if len(center_my) > 0 and rmybn == center_my:
prev_motion_bf.position.setY(
prev_motion_bf.position.y() +
prev_center_motion_bf.position.y())
if len(center_mz) > 0 and rmzbn == center_mz:
prev_motion_bf.position.setZ(
prev_motion_bf.position.z() +
prev_center_motion_bf.position.z())
# 移動を分ける
if len(rmxbn) > 0:
mx_bf = motion.calc_bf(rmxbn, fno)
if np.diff(
[mx_bf.position.x(),
prev_motion_bf.position.x()]) > 0.1:
is_subdiv = True
if len(rmybn) > 0:
my_bf = motion.calc_bf(rmybn, fno)
if np.diff(
[my_bf.position.y(),
prev_motion_bf.position.y()]) > 0.1:
is_subdiv = True
if len(rmzbn) > 0:
mz_bf = motion.calc_bf(rmzbn, fno)
if np.diff(
[mz_bf.position.z(),
prev_motion_bf.position.z()]) > 0.1:
is_subdiv = True
if is_subdiv:
# 細分化ONの場合、更に分割する
if model.bones[bone_name].getRotatable():
if len(rrxbn) > 0:
motion.regist_bf(self.prev_motion.calc_bf(rrxbn, fno),
rrxbn, fno)
if len(rrybn) > 0:
motion.regist_bf(self.prev_motion.calc_bf(rrybn, fno),
rrybn, fno)
if len(rrzbn) > 0:
motion.regist_bf(self.prev_motion.calc_bf(rrzbn, fno),
rrzbn, fno)
if model.bones[bone_name].getTranslatable():
if len(rmxbn) > 0:
motion.regist_bf(self.prev_motion.calc_bf(rmxbn, fno),
rmxbn, fno)
if len(rmybn) > 0:
motion.regist_bf(self.prev_motion.calc_bf(rmybn, fno),
rmybn, fno)
if len(rmzbn) > 0:
motion.regist_bf(self.prev_motion.calc_bf(rmzbn, fno),
rmzbn, fno)
# 分割前の値を再登録
motion.regist_bf(self.prev_motion.calc_bf(bone_name, fno),
bone_name, fno)
subdiv_bf = motion.calc_bf(bone_name, fno)
if bone_name == "グルーブ" and (len(center_mx) > 0
or len(center_my) > 0
or len(center_mz) > 0):
prev_center_motion_bf = self.prev_motion.calc_bf(
"センター", fno)
if len(center_mx) > 0 and rmxbn == center_mx:
subdiv_bf.position.setX(
subdiv_bf.position.x() +
prev_center_motion_bf.position.x())
if len(center_my) > 0 and rmybn == center_my:
subdiv_bf.position.setY(
subdiv_bf.position.y() +
prev_center_motion_bf.position.y())
if len(center_mz) > 0 and rmzbn == center_mz:
subdiv_bf.position.setZ(
subdiv_bf.position.z() +
prev_center_motion_bf.position.z())
# 多段分割
self.split_bf(fno, subdiv_bf, local_x_axis, bone_name, rrxbn,
rrybn, rrzbn, rmxbn, rmybn, rmzbn)
# prev_fno = check_prev_next_fnos[fno]["prev"]
# next_fno = check_prev_next_fnos[fno]["next"]
# logger.info(f"-- 軌跡ズレ防止のため、「{bone_name}」の{prev_fno}F～{next_fno}F間を細分化・不要キー除去します")
# for f in range(prev_fno, next_fno + 1):
# # 区間内を初期登録
# if model.bones[bone_name].getRotatable():
# # 回転を分ける
# if local_x_axis:
# # ローカルX軸がある場合
# x_qq, y_qq, z_qq, _ = MServiceUtils.separate_local_qq(f, bone_name, prev_motion_bf.rotation, local_x_axis)
# else:
# # ローカルX軸の指定が無い場合、グローバルで分ける
# euler = prev_motion_bf.rotation.toEulerAngles()
# x_qq = MQuaternion.fromEulerAngles(euler.x(), 0, 0)
# y_qq = MQuaternion.fromEulerAngles(0, euler.y(), 0)
# z_qq = MQuaternion.fromEulerAngles(0, 0, euler.z())
# if len(rrxbn) > 0:
# prev_rx_bf = self.prev_motion.calc_bf(rrxbn, f).copy()
# prev_rx_bf.rotation = x_qq
# motion.regist_bf(prev_rx_bf, rrxbn, f)
# if len(rrybn) > 0:
# prev_ry_bf = self.prev_motion.calc_bf(rrybn, f).copy()
# prev_ry_bf.rotation = y_qq
# motion.regist_bf(prev_ry_bf, rrybn, f)
# if len(rrzbn) > 0:
# prev_rz_bf = self.prev_motion.calc_bf(rrzbn, f).copy()
# prev_rz_bf.rotation = z_qq
# motion.regist_bf(prev_rz_bf, rrzbn, f)
# if model.bones[bone_name].getTranslatable():
# if len(center_mx) > 0 or len(center_my) > 0 or len(center_mz) > 0:
# # センターとグルーブを両方分割してる場合
# prev_center_motion_bf = self.prev_motion.calc_bf("センター", fno).copy()
# if len(center_mx) > 0 and rmxbn == center_mx:
# prev_motion_bf.position.setX(prev_motion_bf.position.x() + prev_center_motion_bf.position.x())
# if len(center_my) > 0 and rmybn == center_my:
# prev_motion_bf.position.setY(prev_motion_bf.position.y() + prev_center_motion_bf.position.y())
# if len(center_mz) > 0 and rmzbn == center_mz:
# prev_motion_bf.position.setZ(prev_motion_bf.position.z() + prev_center_motion_bf.position.z())
# if len(rmxbn) > 0:
# prev_mx_bf = self.prev_motion.calc_bf(rmxbn, f).copy()
# prev_mx_bf.position.setX(prev_motion_bf.position.x())
# motion.regist_bf(prev_mx_bf, rmxbn, f)
# if len(rmybn) > 0:
# prev_my_bf = self.prev_motion.calc_bf(rmybn, f).copy()
# prev_my_bf.position.setY(prev_motion_bf.position.y())
# motion.regist_bf(prev_my_bf, rmybn, f)
# if len(rmzbn) > 0:
# prev_mz_bf = self.prev_motion.calc_bf(rmzbn, f).copy()
# prev_mz_bf.position.setZ(prev_motion_bf.position.z())
# motion.regist_bf(prev_mz_bf, rmzbn, f)
# # 不要キー削除
# futures = []
# with ThreadPoolExecutor(thread_name_prefix="remove", max_workers=self.options.max_workers) as executor:
# if model.bones[bone_name].getRotatable():
# if len(rrxbn) > 0:
# futures.append(executor.submit(self.remove_unnecessary_bf, rrxbn, start_fno=prev_fno, end_fno=next_fno))
# if len(rrybn) > 0:
# futures.append(executor.submit(self.remove_unnecessary_bf, rrybn, start_fno=prev_fno, end_fno=next_fno))
# if len(rrzbn) > 0:
# futures.append(executor.submit(self.remove_unnecessary_bf, rrzbn, start_fno=prev_fno, end_fno=next_fno))
# if model.bones[bone_name].getTranslatable():
# if len(rmxbn) > 0:
# futures.append(executor.submit(self.remove_unnecessary_bf, rmxbn, start_fno=prev_fno, end_fno=next_fno))
# if len(rmybn) > 0:
# futures.append(executor.submit(self.remove_unnecessary_bf, rmybn, start_fno=prev_fno, end_fno=next_fno))
# if len(rmzbn) > 0:
# futures.append(executor.submit(self.remove_unnecessary_bf, rmzbn, start_fno=prev_fno, end_fno=next_fno))
# concurrent.futures.wait(futures, timeout=None, return_when=concurrent.futures.FIRST_EXCEPTION)
# for f in futures:
# if not f.result():
# return False
if fno // 1000 > prev_sep_fno and fnos[-1] > 0:
logger.count(f"【分割後チェック - {bone_name}】", fno, fnos)
prev_sep_fno = fno // 1000
logger.info("分割完了【%s】", bone_name, decoration=MLogger.DECORATION_LINE)
# 元のボーン削除
if rrxbn != bone_name and rrybn != bone_name and rrzbn != bone_name and rmxbn != bone_name and rmybn != bone_name and rmzbn != bone_name:
del motion.bones[bone_name]
# # 跳ねてるの除去
# futures = []
# with ThreadPoolExecutor(thread_name_prefix="smooth", max_workers=self.options.max_workers) as executor:
# if model.bones[bone_name].getRotatable():
# if len(rrxbn) > 0:
# futures.append(executor.submit(self.smooth_bf, rrxbn))
# if len(rrybn) > 0:
# futures.append(executor.submit(self.smooth_bf, rrybn))
# if len(rrzbn) > 0:
# futures.append(executor.submit(self.smooth_bf, rrzbn))
# if model.bones[bone_name].getTranslatable():
# if len(rmxbn) > 0:
# futures.append(executor.submit(self.smooth_bf, rmxbn))
# if len(rmybn) > 0:
# futures.append(executor.submit(self.smooth_bf, rmybn))
# if len(rmzbn) > 0:
# futures.append(executor.submit(self.smooth_bf, rmzbn))
# concurrent.futures.wait(futures, timeout=None, return_when=concurrent.futures.FIRST_EXCEPTION)
# for f in futures:
# if not f.result():
# return False
return True
def convert_noise(self, copy_no: int, seed: float):
logger.info("ゆらぎ複製 【No.%s】", (copy_no + 1),
decoration=MLogger.DECORATION_LINE)
# データをコピーしてそっちを弄る
motion = self.options.motion.copy()
for bone_name in motion.bones.keys():
if not self.options.finger_noise_flg and "指" in bone_name:
logger.info("-- 指スキップ【No.%s - %s】", copy_no + 1, bone_name)
continue
fnos = motion.get_bone_fnos(bone_name)
prev_fno = 0
prev_sep_fno = 0
# 事前に細分化
self.prepare_split_stance(motion, bone_name)
logger.info("-- 準備完了【No.%s - %s】", copy_no + 1, bone_name)
for fno in fnos:
bf = motion.bones[bone_name][fno]
org_bf = self.options.motion.calc_bf(bone_name, fno)
# 移動
if bf.position != MVector3D():
prev_org_bf = self.options.motion.calc_bf(
bone_name, prev_fno)
if org_bf.position == prev_org_bf.position and fno > 0:
bf.position = motion.calc_bf(bone_name,
prev_fno).position
else:
# 0だったら動かさない
if round(org_bf.position.x(), 1) != 0:
if self.options.motivation_flg:
bf.position.setX(
bf.position.x() * seed +
(0.5 - np.random.rand()) *
(self.options.noise_size / 10))
else:
bf.position.setX(
bf.position.x() +
(0.5 - np.random.rand()) *
(self.options.noise_size / 10))
if round(org_bf.position.y(),
1) != 0 and "足ＩＫ" not in bone_name:
# 足ＩＫのＹは動かさない
if self.options.motivation_flg:
if org_bf.position.y() < 0:
# Yはオリジナルがマイナスの場合は、マイナスのみに動かす
bf.position.setY(
bf.position.y() * seed +
(0 - np.random.rand()) *
(self.options.noise_size / 10))
elif org_bf.position.y() > 0:
bf.position.setY(
bf.position.y() * seed +
(0.5 - np.random.rand()) *
(self.options.noise_size / 10))
else:
bf.position.setY(
bf.position.y() +
(0.5 - np.random.rand()) *
(self.options.noise_size / 10))
if round(org_bf.position.z(), 1) != 0:
if self.options.motivation_flg:
bf.position.setZ(
bf.position.z() * seed +
(0.5 - np.random.rand()) *
(self.options.noise_size / 10))
else:
bf.position.setZ(
bf.position.z() +
(0.5 - np.random.rand()) *
(self.options.noise_size / 10))
# 移動補間曲線
for (bz_idx1, bz_idx2, bz_idx3, bz_idx4) in [MBezierUtils.MX_x1_idxs, MBezierUtils.MX_y1_idxs, MBezierUtils.MX_x2_idxs, MBezierUtils.MX_y2_idxs, \
MBezierUtils.MY_x1_idxs, MBezierUtils.MY_y1_idxs, MBezierUtils.MY_x2_idxs, MBezierUtils.MY_y2_idxs, \
MBezierUtils.MZ_x1_idxs, MBezierUtils.MZ_y1_idxs, MBezierUtils.MZ_x2_idxs, MBezierUtils.MZ_y2_idxs]:
noise_interpolation = bf.interpolation[
bz_idx1] + math.ceil((0.5 - np.random.rand()) *
self.options.noise_size)
bf.interpolation[bz_idx1] = bf.interpolation[
bz_idx2] = bf.interpolation[
bz_idx3] = bf.interpolation[bz_idx4] = int(
noise_interpolation)
# 回転
euler = bf.rotation.toEulerAngles()
# 回転は元が0であっても動かす(足は除く)
if "足" not in bone_name and "ひざ" not in bone_name and "足首" not in bone_name:
if self.options.motivation_flg:
euler.setX(euler.x() * seed +
(0.5 - np.random.rand()) *
self.options.noise_size)
euler.setY(euler.y() * seed +
(0.5 - np.random.rand()) *
self.options.noise_size)
euler.setZ(euler.z() * seed +
(0.5 - np.random.rand()) *
self.options.noise_size)
else:
euler.setX(euler.x() + (0.5 - np.random.rand()) *
self.options.noise_size)
euler.setY(euler.y() + (0.5 - np.random.rand()) *
self.options.noise_size)
euler.setZ(euler.z() + (0.5 - np.random.rand()) *
self.options.noise_size)
bf.rotation = MQuaternion.fromEulerAngles(
euler.x(), euler.y(), euler.z())
# 回転補間曲線
for (bz_idx1, bz_idx2, bz_idx3, bz_idx4) in [
MBezierUtils.R_x1_idxs, MBezierUtils.R_y1_idxs,
MBezierUtils.R_x2_idxs, MBezierUtils.R_y2_idxs
]:
noise_interpolation = bf.interpolation[bz_idx1] + math.ceil(
(0.5 - np.random.rand()) * self.options.noise_size)
bf.interpolation[bz_idx1] = bf.interpolation[
bz_idx2] = bf.interpolation[
bz_idx3] = bf.interpolation[bz_idx4] = int(
noise_interpolation)
# 前回fno保持
prev_fno = fno
if fno // 2000 > prev_sep_fno and fnos[-1] > 0:
logger.count(f"【No.{copy_no + 1} - {bone_name}】", fno,
fnos)
prev_sep_fno = fno // 2000
output_path = self.options.output_path.replace(
"nxxx", "n{0:03d}".format(copy_no + 1))
output_path = output_path.replace(
"axxx", "a{0:+03d}".format(int(seed * 100) - 100))
# 最後に出力
VmdWriter(
MOptionsDataSet(motion, None, self.options.model, output_path,
False, False, [], None, 0, [])).write()
logger.info("出力成功: %s",
os.path.basename(output_path),
decoration=MLogger.DECORATION_BOX)
return True
def convert_target_ik2fk(self, ik_bone: Bone):
motion = self.options.motion
model = self.options.model
bone_name = ik_bone.name
logger.info("-- 腕ＩＫ変換準備:開始【%s】", bone_name)
# モデルのIKボーンのリンク
target_links = model.create_link_2_top_one(bone_name, is_defined=False)
# モデルの人差し指先ボーンのリンク
finger_bone_name = "{0}人指先実体".format(bone_name[0])
finger2_bone_name = "{0}小指先実体".format(bone_name[0])
wrist_bone_name = "{0}手首".format(bone_name[0])
finger_links = model.create_link_2_top_one(finger_bone_name, is_defined=False)
finger2_links = model.create_link_2_top_one(finger2_bone_name, is_defined=False)
# モデルのIKリンク
if not (ik_bone.ik.target_index in model.bone_indexes and model.bone_indexes[ik_bone.ik.target_index] in model.bones):
raise SizingException("{0} のTargetが有効なINDEXではありません。PMXの構造を確認してください。".format(bone_name))
# IKエフェクタ
effector_bone_name = model.bone_indexes[ik_bone.ik.target_index]
effector_links = model.create_link_2_top_one(effector_bone_name, is_defined=False)
ik_links = BoneLinks()
# 末端にエフェクタ
effector_bone = model.bones[effector_bone_name].copy()
effector_bone.degree_limit = math.degrees(ik_bone.ik.limit_radian)
ik_links.append(effector_bone)
for ik_link in ik_bone.ik.link:
# IKリンクを末端から順に追加
if not (ik_link.bone_index in model.bone_indexes and model.bone_indexes[ik_link.bone_index] in model.bones):
raise SizingException("{0} のLinkに無効なINDEXが含まれています。PMXの構造を確認してください。".format(bone_name))
link_bone = model.bones[model.bone_indexes[ik_link.bone_index]].copy()
if link_bone.fixed_axis != MVector3D():
# 捩り系は無視
continue
# 単位角
link_bone.degree_limit = math.degrees(ik_bone.ik.limit_radian)
# # 角度制限
# if ik_link.limit_angle == 1:
# link_bone.limit_min = ik_link.limit_min
# link_bone.limit_max = ik_link.limit_max
ik_links.append(link_bone)
# 回転移管先ボーン
transferee_bone = self.get_transferee_bone(ik_bone, effector_bone)
# 移管先ボーンのローカル軸
transferee_local_x_axis = model.get_local_x_axis(transferee_bone.name)
# 差異の大きい箇所にFKキーフレ追加
fnos = motion.get_differ_fnos(0, [bone_name], limit_degrees=20, limit_length=0.5)
prev_sep_fno = 0
for fno in fnos:
for link_name in list(ik_links.all().keys())[1:]:
bf = motion.calc_bf(link_name, fno)
motion.regist_bf(bf, link_name, fno)
if fno // 500 > prev_sep_fno and fnos[-1] > 0:
logger.count(f"【キーフレ追加 - {bone_name}】", fno, fnos)
prev_sep_fno = fno // 500
logger.info("-- 腕ＩＫ変換準備:終了【%s】", bone_name)
org_motion = motion.copy()
# 元モーションを保持したら、IKキーフレ削除
del motion.bones[bone_name]
for fno in fnos:
# グローバル位置計算(元モーションの位置)
target_ik_global_3ds = MServiceUtils.calc_global_pos(model, target_links, org_motion, fno)
finger_global_3ds = MServiceUtils.calc_global_pos(model, finger_links, org_motion, fno)
finger2_global_3ds = MServiceUtils.calc_global_pos(model, finger2_links, org_motion, fno)
target_effector_pos = target_ik_global_3ds[bone_name]
prev_diff = MVector3D()
org_bfs = {}
for link_name in list(ik_links.all().keys())[1:]:
# 元モーションの角度で保持
bf = org_motion.calc_bf(link_name, fno).copy()
org_bfs[link_name] = bf
# 今のモーションも前のキーフレをクリアして再セット
motion.regist_bf(bf, link_name, fno)
# IK計算実行
for ik_cnt in range(50):
MServiceUtils.calc_IK(model, effector_links, motion, fno, target_effector_pos, ik_links, max_count=1)
# どちらにせよ一旦bf確定
for link_name in list(ik_links.all().keys())[1:]:
ik_bf = motion.calc_bf(link_name, fno)
motion.regist_bf(ik_bf, link_name, fno)
# 現在のエフェクタ位置
now_global_3ds = MServiceUtils.calc_global_pos(model, effector_links, motion, fno)
now_effector_pos = now_global_3ds[effector_bone_name]
# 現在のエフェクタ位置との差分(エフェクタ位置が指定されている場合のみ)
diff_pos = MVector3D() if target_effector_pos == MVector3D() else target_effector_pos - now_effector_pos
if prev_diff == MVector3D() or (prev_diff != MVector3D() and diff_pos.length() < prev_diff.length()):
if diff_pos.length() < 0.1:
logger.debug("☆腕ＩＫ変換成功(%s): f: %s(%s), 指定 [%s], 現在[%s], 差異[%s(%s)]", ik_cnt, fno, bone_name, \
target_effector_pos.to_log(), now_effector_pos.to_log(), diff_pos.to_log(), diff_pos.length())
# org_bfを保持し直し
for link_name in list(ik_links.all().keys())[1:]:
bf = motion.calc_bf(link_name, fno).copy()
org_bfs[link_name] = bf
logger.test("org_bf保持: %s [%s]", link_name, bf.rotation.toEulerAngles().to_log())
# そのまま終了
break
elif prev_diff == MVector3D() or diff_pos.length() < prev_diff.length():
logger.debug("☆腕ＩＫ変換ちょっと失敗採用(%s): f: %s(%s), 指定 [%s], 現在[%s], 差異[%s(%s)]", ik_cnt, fno, bone_name, \
target_effector_pos.to_log(), now_effector_pos.to_log(), diff_pos.to_log(), diff_pos.length())
# org_bfを保持し直し
for link_name in list(ik_links.all().keys())[1:]:
bf = motion.calc_bf(link_name, fno).copy()
org_bfs[link_name] = bf
logger.test("org_bf保持: %s [%s]", link_name, bf.rotation.toEulerAngles().to_log())
# 前回とまったく同じ場合か、充分に近い場合、IK的に動きがないので終了
if prev_diff == diff_pos or np.count_nonzero(np.where(np.abs(diff_pos.data()) > 0.05, 1, 0)) == 0:
logger.debug("動きがないので終了")
break
# 前回差異を保持
prev_diff = diff_pos
else:
logger.debug("★腕ＩＫ変換ちょっと失敗不採用(%s): f: %s(%s), 指定 [%s], 現在[%s], 差異[%s(%s)]", ik_cnt, fno, bone_name, \
target_effector_pos.to_log(), now_effector_pos.to_log(), diff_pos.to_log(), diff_pos.length())
# 前回とまったく同じ場合か、充分に近い場合、IK的に動きがないので終了
if prev_diff == diff_pos or np.count_nonzero(np.where(np.abs(diff_pos.data()) > 0.05, 1, 0)) == 0:
break
else:
logger.debug("★腕ＩＫ変換失敗(%s): f: %s(%s), 指定 [%s], 現在[%s], 差異[%s(%s)]", ik_cnt, fno, bone_name, \
target_effector_pos.to_log(), now_effector_pos.to_log(), diff_pos.to_log(), diff_pos.length())
# 前回とまったく同じ場合か、充分に近い場合、IK的に動きがないので終了
if prev_diff == diff_pos or np.count_nonzero(np.where(np.abs(diff_pos.data()) > 0.05, 1, 0)) == 0:
logger.debug("動きがないので終了")
break
# 最後に成功したところに戻す
for link_name in list(ik_links.all().keys())[1:]:
bf = org_bfs[link_name].copy()
logger.debug("確定bf: %s [%s]", link_name, bf.rotation.toEulerAngles().to_log())
motion.regist_bf(bf, link_name, fno)
# 指先の現在の位置を再計算
if finger_links and finger_links.get(finger_bone_name) and finger_links.get(wrist_bone_name) and \
finger2_links and finger2_links.get(finger2_bone_name) and finger2_links.get(wrist_bone_name) and transferee_bone.name == wrist_bone_name:
# 手首がある場合のみ、再計算
now_finger_global_3ds, now_finger_matrixs = MServiceUtils.calc_global_pos(model, finger_links, motion, fno, return_matrix=True)
# 人指先のローカル位置
finger_initial_local_pos = now_finger_matrixs[wrist_bone_name].inverted() * now_finger_global_3ds[finger_bone_name]
finger_local_pos = now_finger_matrixs[wrist_bone_name].inverted() * finger_global_3ds[finger_bone_name]
finger_rotation = MQuaternion.rotationTo(finger_initial_local_pos, finger_local_pos)
logger.debug("finger_rotation: %s [%s]", finger_bone_name, finger_rotation.toEulerAngles().to_log())
finger_x_qq, finger_y_qq, finger_z_qq, _ = MServiceUtils.separate_local_qq(fno, bone_name, finger_rotation, transferee_local_x_axis)
logger.debug("finger_x_qq: %s [%s]", finger_bone_name, finger_x_qq.toEulerAngles().to_log())
logger.debug("finger_y_qq: %s [%s]", finger_bone_name, finger_y_qq.toEulerAngles().to_log())
logger.debug("finger_z_qq: %s [%s]", finger_bone_name, finger_z_qq.toEulerAngles().to_log())
# 手首の回転は、手首から見た指先の方向
transferee_bf = motion.calc_bf(transferee_bone.name, fno)
transferee_bf.rotation = finger_rotation
# 捩りなしの状態で一旦登録する
motion.regist_bf(transferee_bf, transferee_bone.name, fno)
now_finger2_global_3ds, now_finger2_matrixs = MServiceUtils.calc_global_pos(model, finger2_links, motion, fno, return_matrix=True)
# 小指先のローカル位置
finger2_initial_local_pos = now_finger2_matrixs[wrist_bone_name].inverted() * now_finger2_global_3ds[finger2_bone_name]
finger2_local_pos = now_finger2_matrixs[wrist_bone_name].inverted() * finger2_global_3ds[finger2_bone_name]
finger2_rotation = MQuaternion.rotationTo(finger2_initial_local_pos, finger2_local_pos)
logger.debug("finger2_rotation: %s [%s]", finger2_bone_name, finger2_rotation.toEulerAngles().to_log())
finger2_x_qq = MQuaternion.fromAxisAndAngle(transferee_local_x_axis, finger_x_qq.toDegree() + finger2_rotation.toDegree())
transferee_bf.rotation = finger_y_qq * finger2_x_qq * finger_z_qq
motion.regist_bf(transferee_bf, transferee_bone.name, fno)
logger.debug("transferee_qq: %s [%s], x [%s]", transferee_bone.name, transferee_bf.rotation.toEulerAngles().to_log(), finger2_x_qq.toEulerAngles().to_log())
logger.count("【腕ＩＫ変換 - {0}】".format(bone_name), fno, fnos)
def convert_parent(self):
motion = self.options.motion
model = self.options.model
root_bone_name = "全ての親"
center_bone_name = "センター"
center_parent_bone_name = "センター親"
waist_bone_name = "腰"
upper_bone_name = "上半身"
lower_bone_name = "下半身"
left_leg_ik_bone_name = "左足ＩＫ"
right_leg_ik_bone_name = "右足ＩＫ"
left_leg_ik_parent_bone_name = "左足IK親"
right_leg_ik_parent_bone_name = "右足IK親"
# まずキー登録
# for bone_name in [root_bone_name]:
# if bone_name in model.bones:
# prev_sep_fno = 0
# fnos = motion.get_bone_fnos(root_bone_name, center_bone_name, waist_bone_name, upper_bone_name, lower_bone_name, \
# left_leg_ik_bone_name, right_leg_ik_bone_name, center_parent_bone_name, \
# left_leg_ik_parent_bone_name, right_leg_ik_parent_bone_name)
# for fno in fnos:
# bf = motion.calc_bf(bone_name, fno)
# motion.regist_bf(bf, bone_name, fno)
# if fno // 2000 > prev_sep_fno and fnos[-1] > 0:
# logger.info("-- %sフレーム目:終了(%s％)【準備 - %s】", fno, round((fno / fnos[-1]) * 100, 3), bone_name)
# prev_sep_fno = fno // 2000
for bone_name in [center_bone_name]:
if bone_name in model.bones:
prev_sep_fno = 0
fno = 0
fnos = motion.get_bone_fnos(bone_name, root_bone_name)
for fno in fnos:
bf = motion.calc_bf(bone_name, fno)
motion.regist_bf(bf, bone_name, fno)
if fno // 2000 > prev_sep_fno and fnos[-1] > 0:
logger.count(f"【準備 - {bone_name}】", fno, fnos)
prev_sep_fno = fno // 2000
logger.count(f"【準備 - {bone_name}】", fno, fnos)
if self.options.center_rotatation_flg:
for bone_name in [
center_bone_name, upper_bone_name, lower_bone_name
]:
if bone_name in model.bones:
prev_sep_fno = 0
fno = 0
fnos = motion.get_bone_fnos(bone_name, center_bone_name,
root_bone_name)
for fno in fnos:
bf = motion.calc_bf(bone_name, fno)
motion.regist_bf(bf, bone_name, fno)
if fno // 2000 > prev_sep_fno and fnos[-1] > 0:
logger.count(f"【準備 - {bone_name}】", fno, fnos)
prev_sep_fno = fno // 2000
logger.count(f"【準備 - {bone_name}】", fno, fnos)
for bone_name in [right_leg_ik_bone_name, left_leg_ik_bone_name]:
if bone_name in model.bones:
prev_sep_fno = 0
fno = 0
fnos = motion.get_bone_fnos(bone_name, root_bone_name,
left_leg_ik_parent_bone_name,
right_leg_ik_parent_bone_name)
for fno in fnos:
bf = motion.calc_bf(bone_name, fno)
motion.regist_bf(bf, bone_name, fno)
if fno // 2000 > prev_sep_fno and fnos[-1] > 0:
logger.count(f"【準備 - {bone_name}】", fno, fnos)
prev_sep_fno = fno // 2000
logger.count(f"【準備 - {bone_name}】", fno, fnos)
logger.info("移植開始", decoration=MLogger.DECORATION_LINE)
# センターの移植
for bone_name in [center_bone_name]:
if bone_name in model.bones:
prev_sep_fno = 0
fno = 0
links = model.create_link_2_top_one(bone_name,
is_defined=False)
fnos = motion.get_bone_fnos(bone_name, root_bone_name)
# 移植
for fno in fnos:
root_bf = motion.calc_bf(root_bone_name, fno)
center_parent_bf = motion.calc_bf(center_parent_bone_name,
fno)
bf = motion.calc_bf(bone_name, fno)
# logger.info("f: %s, prev bf.position: %s", fno, bf.position)
# relative_3ds_dic = MServiceUtils.calc_relative_position(model, links, motion, fno)
# [logger.info("R %s", v.to_log()) for v in relative_3ds_dic]
global_3ds_dic = MServiceUtils.calc_global_pos(
model, links, motion, fno)
bone_global_pos = global_3ds_dic[bone_name]
# [logger.info("G %s: %s", k, v.to_log()) for k, v in global_3ds_dic.items()]
# logger.info("f: %s, bone_global_pos: %s", fno, bone_global_pos)
# グローバル位置からの差(センター親があった場合、それも加味して入れてしまう)
bf.position = bone_global_pos - model.bones[
bone_name].position
# logger.info("f: %s, bf.position: %s", fno, bf.position)
# 回転の吸収
bf.rotation = root_bf.rotation * center_parent_bf.rotation * bf.rotation
motion.regist_bf(bf, bone_name, fno)
if fno // 2000 > prev_sep_fno and fnos[-1] > 0:
logger.count(f"【移植 - {bone_name}】", fno, fnos)
prev_sep_fno = fno // 2000
logger.count(f"【移植 - {bone_name}】", fno, fnos)
# 足IKの移植
for bone_name, parent_bone_name in [
(right_leg_ik_bone_name, right_leg_ik_parent_bone_name),
(left_leg_ik_bone_name, left_leg_ik_parent_bone_name)
]:
if bone_name in model.bones:
prev_sep_fno = 0
fno = 0
links = model.create_link_2_top_one(bone_name,
is_defined=False)
fnos = motion.get_bone_fnos(bone_name, root_bone_name)
# 移植
for fno in fnos:
root_bf = motion.calc_bf(root_bone_name, fno)
leg_ik_parent_bf = motion.calc_bf(parent_bone_name, fno)
bf = motion.calc_bf(bone_name, fno)
global_3ds_dic = MServiceUtils.calc_global_pos(
model, links, motion, fno)
bone_global_pos = global_3ds_dic[bone_name]
# グローバル位置からの差(足IK親があった場合、それも加味して入れてしまう)
bf.position = bone_global_pos - model.bones[
bone_name].position
# 回転
bf.rotation = root_bf.rotation * leg_ik_parent_bf.rotation * bf.rotation
motion.regist_bf(bf, bone_name, fno)
if fno // 2000 > prev_sep_fno and fnos[-1] > 0:
logger.count(f"【移植 - {bone_name}】", fno, fnos)
prev_sep_fno = fno // 2000
logger.count(f"【移植 - {bone_name}】", fno, fnos)
# 全ての親削除
if root_bone_name in motion.bones:
del motion.bones[root_bone_name]
# センター親削除
if center_parent_bone_name in motion.bones:
del motion.bones[center_parent_bone_name]
# 足IK親削除
if left_leg_ik_parent_bone_name in motion.bones:
del motion.bones[left_leg_ik_parent_bone_name]
if right_leg_ik_parent_bone_name in motion.bones:
del motion.bones[right_leg_ik_parent_bone_name]
# logger.info("center_rotatation_flg: %s", self.options.center_rotatation_flg)
if self.options.center_rotatation_flg:
# センター→上半身・下半身の移植
prev_sep_fno = 0
fno = 0
fnos = motion.get_bone_fnos(upper_bone_name, lower_bone_name,
center_bone_name)
for fno in fnos:
center_bf = motion.calc_bf(center_bone_name, fno)
waist_bf = motion.calc_bf(waist_bone_name, fno)
upper_bf = motion.calc_bf(upper_bone_name, fno)
lower_bf = motion.calc_bf(lower_bone_name, fno)
center_links = model.create_link_2_top_one(center_bone_name,
is_defined=False)
lower_links = model.create_link_2_top_one(lower_bone_name,
is_defined=False)
# 一旦移動量を保持
center_global_3ds_dic = MServiceUtils.calc_global_pos(
model, lower_links, motion, fno, limit_links=center_links)
# 回転移植
upper_bf.rotation = center_bf.rotation * waist_bf.rotation * upper_bf.rotation
motion.regist_bf(upper_bf, upper_bone_name, fno)
lower_bf.rotation = center_bf.rotation * waist_bf.rotation * lower_bf.rotation
motion.regist_bf(lower_bf, lower_bone_name, fno)
# 腰クリア
if waist_bone_name in model.bones:
waist_bf.rotation = MQuaternion()
motion.regist_bf(waist_bf, waist_bone_name, fno)
# センター回転クリア
center_bf.rotation = MQuaternion()
# 移動を下半身ベースで再計算
center_bf.position = center_global_3ds_dic[
lower_bone_name] - model.bones[lower_bone_name].position
motion.regist_bf(center_bf, center_bone_name, fno)
if fno // 1000 > prev_sep_fno and fnos[-1] > 0:
logger.count("【移植 - 上半身・下半身】", fno, fnos)
prev_sep_fno = fno // 1000
logger.count("【移植 - 上半身・下半身】", fno, fnos)
logger.info("移植完了", decoration=MLogger.DECORATION_LINE)
if self.options.remove_unnecessary_flg:
futures = []
with ThreadPoolExecutor(
thread_name_prefix="remove",
max_workers=self.options.max_workers) as executor:
for bone_name in [
center_bone_name, upper_bone_name, lower_bone_name,
right_leg_ik_bone_name, left_leg_ik_bone_name
]:
futures.append(
executor.submit(self.remove_unnecessary_bf, bone_name))
concurrent.futures.wait(
futures,
timeout=None,
return_when=concurrent.futures.FIRST_EXCEPTION)
for f in futures:
if not f.result():
return False
return True
def prepare_curve(self, bone_name: str):
try:
logger.copy(self.options)
logger.info("【スムージング1回目】%s 開始", bone_name)
# 全キーフレを取得
fnos = self.options.motion.get_bone_fnos(bone_name, is_read=True)
rx_values = []
ry_values = []
rz_values = []
mx_values = []
my_values = []
mz_values = []
for fno in fnos:
bf = self.options.motion.calc_bf(bone_name, fno)
if self.options.model.bones[bone_name].getRotatable():
euler = bf.rotation.toEulerAngles()
rx_values.append(euler.x())
ry_values.append(euler.y())
rz_values.append(euler.z())
if self.options.model.bones[bone_name].getTranslatable():
mx_values.append(bf.position.x())
my_values.append(bf.position.y())
mz_values.append(bf.position.z())
if self.options.model.bones[bone_name].getRotatable():
rx_all_values = MBezierUtils.calc_value_from_catmullrom(bone_name, fnos, rx_values)
logger.info("【スムージング1回目】%s - 回転X 終了", bone_name)
ry_all_values = MBezierUtils.calc_value_from_catmullrom(bone_name, fnos, ry_values)
logger.info("【スムージング1回目】%s - 回転Y 終了", bone_name)
rz_all_values = MBezierUtils.calc_value_from_catmullrom(bone_name, fnos, rz_values)
logger.info("【スムージング1回目】%s - 回転Z 終了", bone_name)
else:
if len(fnos) > 0:
rx_all_values = np.zeros(fnos[-1] + 1)
ry_all_values = np.zeros(fnos[-1] + 1)
rz_all_values = np.zeros(fnos[-1] + 1)
else:
rx_all_values = [0]
ry_all_values = [0]
rz_all_values = [0]
if self.options.model.bones[bone_name].getTranslatable():
mx_all_values = MBezierUtils.calc_value_from_catmullrom(bone_name, fnos, mx_values)
logger.info("【スムージング1回目】%s - 移動X 終了", bone_name)
my_all_values = MBezierUtils.calc_value_from_catmullrom(bone_name, fnos, my_values)
logger.info("【スムージング1回目】%s - 移動Y 終了", bone_name)
mz_all_values = MBezierUtils.calc_value_from_catmullrom(bone_name, fnos, mz_values)
logger.info("【スムージング1回目】%s - 移動Z 終了", bone_name)
else:
if len(fnos) > 0:
mx_all_values = np.zeros(fnos[-1] + 1)
my_all_values = np.zeros(fnos[-1] + 1)
mz_all_values = np.zeros(fnos[-1] + 1)
else:
mx_all_values = [0]
my_all_values = [0]
mz_all_values = [0]
# カトマル曲線で生成した値を全打ち
for fno, (rx, ry, rz, mx, my, mz) in enumerate(zip(rx_all_values, ry_all_values, rz_all_values, mx_all_values, my_all_values, mz_all_values)):
bf = self.options.motion.calc_bf(bone_name, fno)
bf.rotation = MQuaternion.fromEulerAngles(rx, ry, rz)
bf.position = MVector3D(mx, my, mz)
self.options.motion.regist_bf(bf, bone_name, fno)
logger.info("【スムージング1回目】%s 終了", bone_name)
return True
except SizingException as se:
logger.error("スムージング処理が処理できないデータで終了しました。\n\n%s", se.message)
return False
except Exception as e:
logger.error("スムージング処理が意図せぬエラーで終了しました。", e)
return False