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 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_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)
