def convertIKLimitAngles(min_angle, max_angle, bone_matrix, invert=False):
mat = bone_matrix.to_3x3() * -1
mat[1], mat[2] = mat[2].copy(), mat[1].copy()
mat.transpose()
if invert:
mat.invert()
# align matrix to global axes
m = Matrix([[0, 0, 0], [0, 0, 0], [0, 0, 0]])
i_set, j_set = [0, 1, 2], [0, 1, 2]
for _ in range(3):
ii, jj = i_set[0], j_set[0]
for i in i_set:
for j in j_set:
if abs(mat[i][j]) > abs(mat[ii][jj]):
ii, jj = i, j
i_set.remove(ii)
j_set.remove(jj)
m[ii][jj] = -1 if mat[ii][jj] < 0 else 1
new_min_angle = bpyutils.matmul(m, Vector(min_angle))
new_max_angle = bpyutils.matmul(m, Vector(max_angle))
for i in range(3):
if new_min_angle[i] > new_max_angle[i]:
new_min_angle[i], new_max_angle[i] = new_max_angle[
i], new_min_angle[i]
return new_min_angle, new_max_angle
def __flip_pose(cls, matrix_basis, bone_src, bone_dest):
from mathutils import Quaternion
m = bone_dest.bone.matrix_local.to_3x3().transposed()
mi = bone_src.bone.matrix_local.to_3x3().transposed().inverted() if bone_src != bone_dest else m.inverted()
loc, rot, scale = matrix_basis.decompose()
loc = cls.__cmul(matmul(mi, loc), (-1, 1, 1))
rot = cls.__cmul(Quaternion(matmul(mi, rot.axis), rot.angle).normalized(), (1, 1, -1, -1))
bone_dest.matrix_basis = cls.__matrix_compose(matmul(m, loc), Quaternion(matmul(m, rot.axis), rot.angle).normalized(), scale)
def buildJoints(self):
for i in self.joints():
rbc = i.rigid_body_constraint
if rbc is None:
continue
m = self.__rigid_body_matrix_map.get(rbc.object1, None)
if m is None:
m = self.__rigid_body_matrix_map.get(rbc.object2, None)
if m is None:
continue
t, r, s = matmul(m, i.matrix_local).decompose()
i.location = t
i.rotation_euler = r.to_euler(i.rotation_mode)
def __init__(self, pose_bone, scale, invert=False):
mat = pose_bone.matrix.to_3x3()
mat[1], mat[2] = mat[2].copy(), mat[1].copy()
self.__mat = mat.transposed()
self.__scale = scale
self.__mat_rot = pose_bone.matrix_basis.to_3x3()
self.__mat_loc = matmul(self.__mat_rot, self.__mat)
self.__offset = pose_bone.location.copy()
self.convert_location = self._convert_location
self.convert_rotation = self._convert_rotation
if invert:
self.__mat.invert()
self.__mat_rot.invert()
self.__mat_loc.invert()
self.convert_location = self._convert_location_inverted
self.convert_rotation = self._convert_rotation_inverted
def execute(self, context):
from mmd_tools_local.bpyutils import matmul
obj = context.active_object
root = mmd_model.Model.findRoot(obj)
mmd_root=root.mmd_root
rig = mmd_model.Model(root)
armature = rig.armature()
utils.selectSingleBone(context, armature, None, True)
morph = mmd_root.bone_morphs[mmd_root.active_morph]
for morph_data in morph.data:
p_bone = armature.pose.bones.get(morph_data.bone, None)
if p_bone:
p_bone.bone.select = True
p_bone.location += morph_data.location
p_bone.rotation_quaternion = matmul(p_bone.rotation_quaternion, morph_data.rotation)
return { 'FINISHED' }
def execute(self, context):
from mmd_tools_local.bpyutils import matmul
obj = context.active_object
root = mmd_model.Model.findRoot(obj)
mmd_root = root.mmd_root
rig = mmd_model.Model(root)
armature = rig.armature()
utils.selectSingleBone(context, armature, None, True)
morph = mmd_root.bone_morphs[mmd_root.active_morph]
for morph_data in morph.data:
p_bone = armature.pose.bones.get(morph_data.bone, None)
if p_bone:
p_bone.bone.select = True
mtx = matmul(
p_bone.matrix_basis.to_3x3(),
Quaternion(*morph_data.rotation.to_axis_angle()).to_matrix(
)).to_4x4()
mtx.translation = p_bone.location + morph_data.location
p_bone.matrix_basis = mtx
return {'FINISHED'}
def convert_rotation(self, rotation_xyzw):
rot = Quaternion()
rot.x, rot.y, rot.z, rot.w = rotation_xyzw
return Quaternion(matmul(self.__mat, rot.axis) * -1,
rot.angle).normalized()
def updateRigid(self, rigid_obj):
assert (rigid_obj.mmd_type == 'RIGID_BODY')
rb = rigid_obj.rigid_body
if rb is None:
return
rigid = rigid_obj.mmd_rigid
rigid_type = int(rigid.type)
relation = rigid_obj.constraints['mmd_tools_rigid_parent']
arm = relation.target
bone_name = relation.subtarget
if rigid_type == rigid_body.MODE_STATIC:
rb.kinematic = True
else:
rb.kinematic = False
if arm is not None and bone_name != '':
target_bone = arm.pose.bones[bone_name]
if rigid_type == rigid_body.MODE_STATIC:
m = matmul(target_bone.matrix,
target_bone.bone.matrix_local.inverted())
self.__rigid_body_matrix_map[rigid_obj] = m
orig_scale = rigid_obj.scale.copy()
to_matrix_world = matmul(rigid_obj.matrix_world,
rigid_obj.matrix_local.inverted())
matrix_world = matmul(to_matrix_world,
matmul(m, rigid_obj.matrix_local))
rigid_obj.parent = arm
rigid_obj.parent_type = 'BONE'
rigid_obj.parent_bone = bone_name
rigid_obj.matrix_world = matrix_world
rigid_obj.scale = orig_scale
#relation.mute = False
#relation.inverse_matrix = matmul(arm.matrix_world, target_bone.bone.matrix_local).inverted()
fake_children = self.__fake_parent_map.get(rigid_obj, None)
if fake_children:
for fake_child in fake_children:
logging.debug(' - fake_child: %s',
fake_child.name)
t, r, s = matmul(m,
fake_child.matrix_local).decompose()
fake_child.location = t
fake_child.rotation_euler = r.to_euler(
fake_child.rotation_mode)
elif rigid_type in [
rigid_body.MODE_DYNAMIC, rigid_body.MODE_DYNAMIC_BONE
]:
m = matmul(target_bone.matrix,
target_bone.bone.matrix_local.inverted())
self.__rigid_body_matrix_map[rigid_obj] = m
t, r, s = matmul(m, rigid_obj.matrix_local).decompose()
rigid_obj.location = t
rigid_obj.rotation_euler = r.to_euler(rigid_obj.rotation_mode)
fake_children = self.__fake_parent_map.get(rigid_obj, None)
if fake_children:
for fake_child in fake_children:
logging.debug(' - fake_child: %s',
fake_child.name)
t, r, s = matmul(m,
fake_child.matrix_local).decompose()
fake_child.location = t
fake_child.rotation_euler = r.to_euler(
fake_child.rotation_mode)
if 'mmd_tools_rigid_track' not in target_bone.constraints:
empty = bpy.data.objects.new('mmd_bonetrack', None)
SceneOp(bpy.context).link_object(empty)
empty.matrix_world = target_bone.matrix
empty.empty_draw_size = 0.1 * self.__root.empty_draw_size
empty.empty_draw_type = 'ARROWS'
empty.mmd_type = 'TRACK_TARGET'
empty.hide = True
empty.parent = self.temporaryGroupObject()
rigid_obj.mmd_rigid.bone = bone_name
rigid_obj.constraints.remove(relation)
self.__empty_parent_map[empty] = rigid_obj
const_type = ('COPY_TRANSFORMS',
'COPY_ROTATION')[rigid_type - 1]
const = target_bone.constraints.new(const_type)
const.mute = True
const.name = 'mmd_tools_rigid_track'
const.target = empty
else:
empty = target_bone.constraints[
'mmd_tools_rigid_track'].target
ori_rigid_obj = self.__empty_parent_map[empty]
ori_rb = ori_rigid_obj.rigid_body
if ori_rb and rb.mass > ori_rb.mass:
logging.debug(
' * Bone (%s): change target from [%s] to [%s]',
target_bone.name, ori_rigid_obj.name,
rigid_obj.name)
# re-parenting
rigid_obj.mmd_rigid.bone = bone_name
rigid_obj.constraints.remove(relation)
self.__empty_parent_map[empty] = rigid_obj
# revert change
ori_rigid_obj.mmd_rigid.bone = bone_name
else:
logging.debug(' * Bone (%s): track target [%s]',
target_bone.name, ori_rigid_obj.name)
rb.collision_shape = rigid.shape
def __matrix_compose(loc, rot, scale):
return matmul(matmul(Matrix.Translation(loc), rot.to_matrix().to_4x4()),
Matrix([(scale[0],0,0,0), (0,scale[1],0,0), (0,0,scale[2],0), (0,0,0,1)]))
def _convert_location(self, location):
return self.__offset + matmul(self.__mat_loc,
Vector(location)) * self.__scale
def driver_function(cls, shapekey, obj_name, bulk_update, use_skip,
use_scale):
obj = bpy.data.objects[obj_name]
if getattr(shapekey.id_data, 'is_evaluated', False):
# For Blender 2.8x, we should use evaluated object, and the only reference is the "obj" variable of SDEF driver
#cls.driver_function(shapekey.id_data.original.key_blocks[shapekey.name], obj_name, bulk_update, use_skip, use_scale) # update original data
data_path = shapekey.path_from_id('value')
obj = next(i for i in shapekey.id_data.animation_data.drivers
if i.data_path ==
data_path).driver.variables['obj'].targets[0].id
cls.__init_cache(obj, shapekey)
if cls.__sdef_muted(obj, shapekey):
return 0.0
pose_bones = obj.modifiers.get(
'mmd_bone_order_override').object.pose.bones
if not bulk_update:
shapekey_data = shapekey.data
if use_scale:
# with scale
for bone0, bone1, sdef_data, vids in cls.g_verts[_hash(
obj)].values():
bone0, bone1 = pose_bones[bone0.name], pose_bones[
bone1.name]
if use_skip and not cls.__check_bone_update(
obj, bone0, bone1):
continue
mat0 = matmul(bone0.matrix,
bone0.bone.matrix_local.inverted())
mat1 = matmul(bone1.matrix,
bone1.bone.matrix_local.inverted())
rot0 = mat0.to_euler('YXZ').to_quaternion()
rot1 = mat1.to_euler('YXZ').to_quaternion()
if rot1.dot(rot0) < 0:
rot1 = -rot1
s0, s1 = mat0.to_scale(), mat1.to_scale()
for vid, w0, w1, pos_c, cr0, cr1 in sdef_data:
s = s0 * w0 + s1 * w1
mat_rot = matmul(
(rot0 * w0 + rot1 * w1).normalized().to_matrix(),
Matrix([(s[0], 0, 0), (0, s[1], 0), (0, 0, s[2])]))
shapekey_data[vid].co = matmul(
mat_rot, pos_c) + matmul(mat0, cr0) * w0 + matmul(
mat1, cr1) * w1
else:
# default
for bone0, bone1, sdef_data, vids in cls.g_verts[_hash(
obj)].values():
bone0, bone1 = pose_bones[bone0.name], pose_bones[
bone1.name]
if use_skip and not cls.__check_bone_update(
obj, bone0, bone1):
continue
mat0 = matmul(bone0.matrix,
bone0.bone.matrix_local.inverted())
mat1 = matmul(bone1.matrix,
bone1.bone.matrix_local.inverted())
# workaround some weird result of matrix.to_quaternion() using to_euler(), but still minor issues
rot0 = mat0.to_euler('YXZ').to_quaternion()
rot1 = mat1.to_euler('YXZ').to_quaternion()
if rot1.dot(rot0) < 0:
rot1 = -rot1
for vid, w0, w1, pos_c, cr0, cr1 in sdef_data:
mat_rot = (rot0 * w0 +
rot1 * w1).normalized().to_matrix()
shapekey_data[vid].co = matmul(
mat_rot, pos_c) + matmul(mat0, cr0) * w0 + matmul(
mat1, cr1) * w1
else: # bulk update
shapekey_data = cls.g_shapekey_data[_hash(obj)]
if use_scale:
# scale & bulk update
for bone0, bone1, sdef_data, vids in cls.g_verts[_hash(
obj)].values():
bone0, bone1 = pose_bones[bone0.name], pose_bones[
bone1.name]
if use_skip and not cls.__check_bone_update(
obj, bone0, bone1):
continue
mat0 = matmul(bone0.matrix,
bone0.bone.matrix_local.inverted())
mat1 = matmul(bone1.matrix,
bone1.bone.matrix_local.inverted())
rot0 = mat0.to_euler('YXZ').to_quaternion()
rot1 = mat1.to_euler('YXZ').to_quaternion()
if rot1.dot(rot0) < 0:
rot1 = -rot1
s0, s1 = mat0.to_scale(), mat1.to_scale()
def scale(mat_rot, w0, w1):
s = s0 * w0 + s1 * w1
return matmul(
mat_rot,
Matrix([(s[0], 0, 0), (0, s[1], 0), (0, 0, s[2])]))
shapekey_data[vids] = [
matmul(
scale((rot0 * w0 +
rot1 * w1).normalized().to_matrix(), w0,
w1), pos_c) + matmul(mat0, cr0) * w0 +
matmul(mat1, cr1) * w1
for vid, w0, w1, pos_c, cr0, cr1 in sdef_data
]
else:
# bulk update
for bone0, bone1, sdef_data, vids in cls.g_verts[_hash(
obj)].values():
bone0, bone1 = pose_bones[bone0.name], pose_bones[
bone1.name]
if use_skip and not cls.__check_bone_update(
obj, bone0, bone1):
continue
mat0 = matmul(bone0.matrix,
bone0.bone.matrix_local.inverted())
mat1 = matmul(bone1.matrix,
bone1.bone.matrix_local.inverted())
rot0 = mat0.to_euler('YXZ').to_quaternion()
rot1 = mat1.to_euler('YXZ').to_quaternion()
if rot1.dot(rot0) < 0:
rot1 = -rot1
shapekey_data[vids] = [
matmul(
(rot0 * w0 + rot1 * w1).normalized().to_matrix(),
pos_c) + matmul(mat0, cr0) * w0 +
matmul(mat1, cr1) * w1
for vid, w0, w1, pos_c, cr0, cr1 in sdef_data
]
shapekey.data.foreach_set(
'co', shapekey_data.reshape(3 * len(shapekey.data)))
return 1.0 # shapkey value
def scale(mat_rot, w0, w1):
s = s0 * w0 + s1 * w1
return matmul(
mat_rot,
Matrix([(s[0], 0, 0), (0, s[1], 0), (0, 0, s[2])]))
def _convert_location_inverted(self, location):
return matmul(self.__mat_loc,
Vector(location) - self.__offset) * self.__scale
def driver_function(cls, shapekey, obj_name, bulk_update, use_skip,
use_scale):
obj = bpy.data.objects[obj_name]
cls.__init_cache(obj, shapekey)
if cls.__sdef_muted(obj, shapekey):
return 0.0
if not bulk_update:
shapekey_data = shapekey.data
if use_scale:
# with scale
for bone0, bone1, sdef_data, vids in cls.g_verts[hash(
obj)].values():
if use_skip and not cls.__check_bone_update(
obj, bone0, bone1):
continue
mat0 = matmul(bone0.matrix,
bone0.bone.matrix_local.inverted())
mat1 = matmul(bone1.matrix,
bone1.bone.matrix_local.inverted())
rot0 = mat0.to_quaternion()
rot1 = mat1.to_quaternion()
if rot1.dot(rot0) < 0:
rot1 = -rot1
s0, s1 = mat0.to_scale(), mat1.to_scale()
for vid, w0, w1, pos_c, cr0, cr1 in sdef_data:
s = s0 * w0 + s1 * w1
mat_rot = matmul(
(rot0 * w0 + rot1 * w1).normalized().to_matrix(),
Matrix([(s[0], 0, 0), (0, s[1], 0), (0, 0, s[2])]))
shapekey_data[vid].co = matmul(
mat_rot, pos_c) + matmul(mat0, cr0) * w0 + matmul(
mat1, cr1) * w1
else:
# default
for bone0, bone1, sdef_data, vids in cls.g_verts[hash(
obj)].values():
if use_skip and not cls.__check_bone_update(
obj, bone0, bone1):
continue
mat0 = matmul(bone0.matrix,
bone0.bone.matrix_local.inverted())
mat1 = matmul(bone1.matrix,
bone1.bone.matrix_local.inverted())
rot0 = mat0.to_quaternion()
rot1 = mat1.to_quaternion()
if rot1.dot(rot0) < 0:
rot1 = -rot1
for vid, w0, w1, pos_c, cr0, cr1 in sdef_data:
mat_rot = (rot0 * w0 +
rot1 * w1).normalized().to_matrix()
shapekey_data[vid].co = matmul(
mat_rot, pos_c) + matmul(mat0, cr0) * w0 + matmul(
mat1, cr1) * w1
else: # bulk update
shapekey_data = cls.g_shapekey_data[hash(obj)]
if use_scale:
# scale & bulk update
for bone0, bone1, sdef_data, vids in cls.g_verts[hash(
obj)].values():
if use_skip and not cls.__check_bone_update(
obj, bone0, bone1):
continue
mat0 = matmul(bone0.matrix,
bone0.bone.matrix_local.inverted())
mat1 = matmul(bone1.matrix,
bone1.bone.matrix_local.inverted())
rot0 = mat0.to_quaternion()
rot1 = mat1.to_quaternion()
if rot1.dot(rot0) < 0:
rot1 = -rot1
s0, s1 = mat0.to_scale(), mat1.to_scale()
def scale(mat_rot, w0, w1):
s = s0 * w0 + s1 * w1
return matmul(
mat_rot,
Matrix([(s[0], 0, 0), (0, s[1], 0), (0, 0, s[2])]))
shapekey_data[vids] = [
matmul(
scale((rot0 * w0 +
rot1 * w1).normalized().to_matrix(), w0,
w1), pos_c) + matmul(mat0, cr0) * w0 +
matmul(mat1, cr1) * w1
for vid, w0, w1, pos_c, cr0, cr1 in sdef_data
]
else:
# bulk update
for bone0, bone1, sdef_data, vids in cls.g_verts[hash(
obj)].values():
if use_skip and not cls.__check_bone_update(
obj, bone0, bone1):
continue
mat0 = matmul(bone0.matrix,
bone0.bone.matrix_local.inverted())
mat1 = matmul(bone1.matrix,
bone1.bone.matrix_local.inverted())
rot0 = mat0.to_quaternion()
rot1 = mat1.to_quaternion()
if rot1.dot(rot0) < 0:
rot1 = -rot1
shapekey_data[vids] = [
matmul(
(rot0 * w0 + rot1 * w1).normalized().to_matrix(),
pos_c) + matmul(mat0, cr0) * w0 +
matmul(mat1, cr1) * w1
for vid, w0, w1, pos_c, cr0, cr1 in sdef_data
]
shapekey.data.foreach_set(
'co', shapekey_data.reshape(3 * len(shapekey.data)))
return 1.0 # shapkey value
def convert_location(self, location):
return matmul(self.__mat, Vector(location)) * self.__scale
def newMMDCameraAnimation(cameraObj,
cameraTarget=None,
scale=1.0,
min_distance=0.1):
scene = bpy.context.scene
mmd_cam = bpy.data.objects.new(
name='Camera', object_data=bpy.data.cameras.new('Camera'))
SceneOp(bpy.context).link_object(mmd_cam)
MMDCamera.convertToMMDCamera(mmd_cam, scale=scale)
mmd_cam_root = mmd_cam.parent
_camera_override_func = None
if cameraObj is None:
if scene.camera is None:
scene.camera = mmd_cam
return MMDCamera(mmd_cam_root)
_camera_override_func = lambda: scene.camera
_target_override_func = None
if cameraTarget is None:
_target_override_func = lambda camObj: camObj.data.dof_object or camObj
action_name = mmd_cam_root.name
parent_action = bpy.data.actions.new(name=action_name)
distance_action = bpy.data.actions.new(name=action_name + '_dis')
MMDCamera.removeDrivers(mmd_cam)
from math import atan
from mathutils import Matrix, Vector
from mmd_tools_local.bpyutils import matmul
render = scene.render
factor = (render.resolution_y * render.pixel_aspect_y) / (
render.resolution_x * render.pixel_aspect_x)
matrix_rotation = Matrix(
([1, 0, 0, 0], [0, 0, 1, 0], [0, -1, 0, 0], [0, 0, 0, 1]))
neg_z_vector = Vector((0, 0, -1))
frame_start, frame_end, frame_current = scene.frame_start, scene.frame_end + 1, scene.frame_current
frame_count = frame_end - frame_start
frames = range(frame_start, frame_end)
fcurves = []
for i in range(3):
fcurves.append(
parent_action.fcurves.new(data_path='location',
index=i)) # x, y, z
for i in range(3):
fcurves.append(
parent_action.fcurves.new(data_path='rotation_euler',
index=i)) # rx, ry, rz
fcurves.append(
parent_action.fcurves.new(data_path='mmd_camera.angle')) # fov
fcurves.append(
parent_action.fcurves.new(
data_path='mmd_camera.is_perspective')) # persp
fcurves.append(
distance_action.fcurves.new(data_path='location', index=1)) # dis
for c in fcurves:
c.keyframe_points.add(frame_count)
for f, x, y, z, rx, ry, rz, fov, persp, dis in zip(
frames, *(c.keyframe_points for c in fcurves)):
scene.frame_set(f)
if _camera_override_func:
cameraObj = _camera_override_func()
if _target_override_func:
cameraTarget = _target_override_func(cameraObj)
cam_matrix_world = cameraObj.matrix_world
cam_target_loc = cameraTarget.matrix_world.translation
cam_rotation = matmul(cam_matrix_world, matrix_rotation).to_euler(
mmd_cam_root.rotation_mode)
cam_vec = matmul(cam_matrix_world.to_3x3(), neg_z_vector)
if cameraObj.data.type == 'ORTHO':
cam_dis = -(9 / 5) * cameraObj.data.ortho_scale
if cameraObj.data.sensor_fit != 'VERTICAL':
if cameraObj.data.sensor_fit == 'HORIZONTAL':
cam_dis *= factor
else:
cam_dis *= min(1, factor)
else:
target_vec = cam_target_loc - cam_matrix_world.translation
cam_dis = -max(
target_vec.length * cam_vec.dot(target_vec.normalized()),
min_distance)
cam_target_loc = cam_matrix_world.translation - cam_vec * cam_dis
tan_val = cameraObj.data.sensor_height / cameraObj.data.lens / 2
if cameraObj.data.sensor_fit != 'VERTICAL':
ratio = cameraObj.data.sensor_width / cameraObj.data.sensor_height
if cameraObj.data.sensor_fit == 'HORIZONTAL':
tan_val *= factor * ratio
else: # cameraObj.data.sensor_fit == 'AUTO'
tan_val *= min(ratio, factor * ratio)
x.co, y.co, z.co = ((f, i) for i in cam_target_loc)
rx.co, ry.co, rz.co = ((f, i) for i in cam_rotation)
dis.co = (f, cam_dis)
fov.co = (f, 2 * atan(tan_val))
persp.co = (f, cameraObj.data.type != 'ORTHO')
persp.interpolation = 'CONSTANT'
for kp in (x, y, z, rx, ry, rz, fov, dis):
kp.interpolation = 'LINEAR'
MMDCamera.addDrivers(mmd_cam)
mmd_cam_root.animation_data_create().action = parent_action
mmd_cam.animation_data_create().action = distance_action
scene.frame_set(frame_current)
return MMDCamera(mmd_cam_root)
def _convert_rotation_inverted(self, rotation_xyzw):
rot = Quaternion()
rot.x, rot.y, rot.z, rot.w = rotation_xyzw
rot = matmul(self.__mat_rot, rot.to_matrix()).to_quaternion()
return Quaternion(matmul(self.__mat, rot.axis) * -1,
rot.angle).normalized()
