def extendByIntegration(motion, extendLength, preserveJoints=[], finiteDiff=1):
lastFrame = len(motion) - 1
p = motion.getJointPositionGlobal(0, lastFrame)
v = motion.getJointVelocityGlobal(0, lastFrame - finiteDiff, lastFrame)
a = motion.getJointAccelerationGlobal(0, lastFrame - finiteDiff, lastFrame)
ap = motion.getJointOrientationsLocal(lastFrame)
av = motion.getJointAngVelocitiesLocal(lastFrame - finiteDiff, lastFrame)
aa = motion.getJointAngAccelerationsLocal(lastFrame - finiteDiff,
lastFrame)
t = 1 / motion.fps
# integration
extended = ym.JointMotion(
[motion[0].getTPose() for i in range(extendLength)])
for i in range(extendLength):
p += v * t
v += a * t
ap = map(lambda R0, dR: np.dot(R0, mm.exp(t * dR)), ap, av)
av = map(lambda V0, dV: V0 + t * dV, av, aa)
extended[i].rootPos = p.copy()
extended.setJointOrientationsLocal(i, ap)
# preserve joint orientations
preserveJointOrientations = [
motion[-1].getJointOrientationGlobal(footJoint)
for footJoint in preserveJoints
]
for extendedPosture in extended:
for i in range(len(preserveJoints)):
extendedPosture.setJointOrientationGlobal(
preserveJoints[i], preserveJointOrientations[i])
return extended
def blendSegmentSmooth(motionSegment0,
motionSegment1,
attachPosition=True,
attachOrientation=True):
motionSegment1 = motionSegment1.copy()
if attachPosition:
p_offset = motionSegment0[0].rootPos - motionSegment1[0].rootPos
motionSegment1.translateByOffset(p_offset)
if attachOrientation:
R_offset = np.dot(motionSegment0[0].localRs[0],
motionSegment1[0].localRs[0].T)
R_offset = mm.exp(
mm.projectionOnVector(mm.logSO3(R_offset),
mm.v3(0, 1, 0))) # # project on y axis
motionSegment1.rotateTrajectory(R_offset)
newMotion = ym.JointMotion([None] * (int(
(len(motionSegment0) + len(motionSegment1)) / 2.)))
# newMotion = ym.JointMotion( [None]*(int( t*len(motionSegment0) + (1-t)*len(motionSegment1)) ) )
df0 = float(len(newMotion)) / len(motionSegment0)
df1 = float(len(newMotion)) / len(motionSegment1)
for frame in range(len(newMotion)):
normalizedFrame = float(frame) / (len(newMotion) - 1)
normalizedFrame2 = yfg.H1(normalizedFrame)
normalizedFrame2 += df0 * yfg.H2(normalizedFrame)
normalizedFrame2 += df1 * yfg.H3(normalizedFrame)
posture0_at_normalizedFrame = motionSegment0.getPostureAt(
normalizedFrame2 * (len(motionSegment0) - 1))
posture1_at_normalizedFrame = motionSegment1.getPostureAt(
normalizedFrame2 * (len(motionSegment1) - 1))
newMotion[frame] = posture0_at_normalizedFrame.blendPosture(
posture1_at_normalizedFrame, normalizedFrame2)
return newMotion
def stitchSegment(motion, transitionFunc, d, lastMatch=False):
scaledTransFunc = yfg.scale(transitionFunc, [0, len(motion)])
newMotion = ym.JointMotion([None] * len(motion))
for i in range(len(motion)):
t = scaledTransFunc(i) if lastMatch == False else scaledTransFunc(i +
1)
newMotion[i] = motion[i] + t * d
# print i, t
return newMotion
def toJointMotion(self, scale, applyRootOffset):
skeleton = self.toJointSkeleton(scale, applyRootOffset)
jointMotion = ym.JointMotion()
for i in range(len(self.motionList)):
jointPosture = ym.JointPosture(skeleton)
self.addJointSO3FromBvhJoint(jointPosture, self.joints[0],
self.motionList[i], scale)
jointPosture.updateGlobalT()
jointMotion.append(jointPosture)
jointMotion.fps = 1. / self.frameTime
return jointMotion
def extendByIntegration_root(motion, extendLength, finiteDiff=1):
lastFrame = len(motion) - 1
p = motion.getJointPositionGlobal(0, lastFrame)
v = motion.getJointVelocityGlobal(0, lastFrame - finiteDiff, lastFrame)
a = motion.getJointAccelerationGlobal(0, lastFrame - finiteDiff, lastFrame)
t = 1 / motion.fps
# integration
extended = ym.JointMotion([motion[-1].copy() for i in range(extendLength)])
for i in range(extendLength):
p += v * t
v += a * t
extended[i].rootPos = p.copy()
extended[i].updateGlobalT()
return extended
def timescale(motion, newLength, scalingFunc=yfg.identity):
if newLength == len(motion):
return motion
else:
newMotion = ym.JointMotion([None] * newLength)
df0 = float(newLength) / len(motion)
df1 = float(newLength) / (2 * newLength - len(motion))
for frame in range(len(newMotion)):
normalizedFrame = float(frame) / (newLength - 1)
if scalingFunc == None:
normalizedFrame2 = yfg.H1(normalizedFrame)
normalizedFrame2 += df0 * yfg.H2(normalizedFrame)
normalizedFrame2 += df1 * yfg.H3(normalizedFrame)
else:
normalizedFrame2 = scalingFunc(normalizedFrame)
newMotion[frame] = motion.getPostureAt(normalizedFrame2 *
(len(motion) - 1))
return newMotion
