def _create_keyframe_transform_node(self, gltf_node, animation_channels,
input_sample):
matrix = gltf_node.matrix
if matrix:
translation = Gf.Vec3f()
rotation = Gf.Quatf()
scale = Gf.Vec3h()
usd_matrix = self._convert_to_usd_matrix(matrix)
UsdSkel.DecomposeTransform(usd_matrix, translation, rotation,
scale)
else:
translation = Gf.Vec3f(gltf_node.translation)
rotation = Gf.Quatf(gltf_node.rotation[3], gltf_node.rotation[0],
gltf_node.rotation[1], gltf_node.rotation[2])
scale = Gf.Vec3h(gltf_node.scale)
for animation_channel in animation_channels:
if animation_channel.target.path == 'translation':
translation = animation_channel.sampler.get_interpolated_output_data(
input_sample)
elif animation_channel.target.path == 'rotation':
rotation = animation_channel.sampler.get_interpolated_output_data(
input_sample)
elif animation_channel.target.path == 'scale':
scale = animation_channel.sampler.get_interpolated_output_data(
input_sample)
return UsdSkel.MakeTransform(translation, rotation, scale)
def test_TransformCompositionAndDecomposition(self):
"""
Tests UsdSkelMakeTransform(), UsdSkelDecomposeTransform()
and their array forms.
"""
random.seed(0)
count = 100
# Make some random transforms.
translations = RandomTranslations(count)
rotations = RandomRotations(count)
scales = RandomScales(count)
xforms = UsdSkel.MakeTransforms(translations, rotations, scales)
assert xforms
xformsBuiltIndividually = Vt.Matrix4dArray(
[UsdSkel.MakeTransform(translations[i], rotations[i], scales[i])
for i in range(count)])
self.assertArrayIsClose(xforms, xformsBuiltIndividually)
# Decompose back into components.
decomposedComponents = UsdSkel.DecomposeTransforms(xforms)
assert decomposedComponents
decomposedTranslations,_,_ = decomposedComponents
self.assertArrayIsClose(translations, decomposedTranslations)
# Make sure the non-array decomposition matches.
for i,xf in enumerate(xforms):
t,_,_ = UsdSkel.DecomposeTransform(xf)
self.assertTrue(Gf.IsClose(t, translations[i],1e-5))
# We can't really directly compare the decomposed rotations and scales
# against the original components used to build our matrices:
# Decomposition might produce different scales and rotations, but
# which still give the same composed matrix result.
# Instead, we rebuild xforms and validate that they give us the
# xforms that the components were decomposed from.
rebuiltXforms = UsdSkel.MakeTransforms(*decomposedComponents)
assert rebuiltXforms
self.assertArrayIsClose(xforms, rebuiltXforms)
# And rebuilding each matrix individually...
rebuiltXforms = Vt.Matrix4dArray(
[UsdSkel.MakeTransform(*UsdSkel.DecomposeTransform(xf))
for xf in xforms])
self.assertArrayIsClose(xforms, rebuiltXforms)
# Decomposing singular matrices should fail!
with self.assertRaises(Tf.ErrorException):
print("expect a warning about decomposing a singular matrix")
UsdSkel.DecomposeTransform(Gf.Matrix4d(0))
with self.assertRaises(Tf.ErrorException):
UsdSkel.DecomposeTransforms(
Vt.Matrix4dArray([Gf.Matrix4d(1), Gf.Matrix4d(0)]))
