def test_ObjectInfoWnd():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
jointMotion1, frameTime = yf.readBvhFileAsJointMotion(bvhFilePath, .01)
bvhFilePath = '../samples/wd2_WalkForwardVFast00.bvh'
jointMotion2, frameTime = yf.readBvhFileAsJointMotion(bvhFilePath, .01)
meshFilePath = '../samples/physics2_woody_binding1.mesh.xml'
skinMesh, js = yol.readOgreDataFiles(meshFilePath, .01)
meshFilePath = '../samples/physics2_woody_binding1.mesh.xml'
mesh = yol.readOgreMeshFileAsMesh(meshFilePath, .01)
ysu.mergePoints(skinMesh)
ysu.mergePoints(mesh)
skinMesh.update(js[0][80])
viewer = SimpleViewer()
viewer.doc.addRenderer('motion1(%s)'%jointMotion1.resourceName, yr.JointMotionRenderer(jointMotion1, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addObject('motion1(%s)'%jointMotion1.resourceName, jointMotion1)
viewer.doc.addRenderer('motion2(%s)'%jointMotion2.resourceName, yr.JointMotionRenderer(jointMotion2, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addObject('motion2(%s)'%jointMotion1.resourceName, jointMotion2)
viewer.doc.addRenderer('skinMesh', yr.MeshRenderer(skinMesh))
viewer.doc.addObject('skinMesh', skinMesh)
viewer.doc.addRenderer('mesh', yr.MeshRenderer(mesh))
viewer.doc.addObject('mesh', mesh)
viewer.startTimer(frameTime)
viewer.show()
Fl.run()
def test_ObjectInfoWnd():
bvhFilePath = '../samples/wd2_WalkSameSame00.bvh'
jointMotion1, frameTime = yf.readBvhFileAsJointMotion(bvhFilePath, .01)
bvhFilePath = '../samples/wd2_WalkForwardVFast00.bvh'
jointMotion2, frameTime = yf.readBvhFileAsJointMotion(bvhFilePath, .01)
meshFilePath = '../samples/physics2_woody_binding1.mesh.xml'
skinMesh, js = yol.readOgreDataFiles(meshFilePath, .01)
meshFilePath = '../samples/physics2_woody_binding1.mesh.xml'
mesh = yol.readOgreMeshFileAsMesh(meshFilePath, .01)
ysu.mergePoints(skinMesh)
ysu.mergePoints(mesh)
skinMesh.update(js[0][80])
viewer = SimpleViewer()
viewer.doc.addRenderer('motion1(%s)'%jointMotion1.resourceName, yr.JointMotionRenderer(jointMotion1, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addObject('motion1(%s)'%jointMotion1.resourceName, jointMotion1)
viewer.doc.addRenderer('motion2(%s)'%jointMotion2.resourceName, yr.JointMotionRenderer(jointMotion2, (0, 0, 255), yr.LINK_LINE))
viewer.doc.addObject('motion2(%s)'%jointMotion1.resourceName, jointMotion2)
viewer.doc.addRenderer('skinMesh', yr.MeshRenderer(skinMesh))
viewer.doc.addObject('skinMesh', skinMesh)
viewer.doc.addRenderer('mesh', yr.MeshRenderer(mesh))
viewer.doc.addObject('mesh', mesh)
viewer.startTimer(frameTime)
viewer.show()
Fl.run()
def test_joint2Point_Motion():
bvhFilePath = '../samples/physics2_WalkSameSame00.bvh'
jointMotion, frameTime = yf.readBvhFileAsJointMotion(bvhFilePath, .1)
pointMotion = joint2Point_Motion(jointMotion)
print 'jointMotion.skeleton', jointMotion[0].skeleton
print 'pointMotion.skeleton', pointMotion[0].skeleton
print 'jointMotion.skeleton - pointMotion.skeleton', set(
jointMotion[0].skeleton.joints.keys(
)) - pointMotion[0].skeleton.pointSet
print 'pointMotion.skeleton - jointMotion.skeleton', pointMotion[
0].skeleton.pointSet - set(jointMotion[0].skeleton.joints.keys())
motionSystem = ym.MotionSystem()
motionSystem.addMotion(pointMotion)
motionSystem.addMotion(jointMotion)
renderers = []
renderers.append(yr.PointMotionRenderer(pointMotion))
renderers.append(
yr.JointMotionRenderer(jointMotion, (0, 255, 0), yr.LINK_LINE))
viewer = yv.Viewer2(100, 100, 800, 650, None, motionSystem, renderers)
viewer.startTimer(frameTime)
viewer.show()
Fl.run()
def test_joint2Point_Motion():
bvhFilePath = '../samples/physics2_WalkSameSame00.bvh'
jointMotion, frameTime = yf.readBvhFileAsJointMotion(bvhFilePath, .1)
# bvhFilePath = '../../../Walking/ppmotion/wd2_WalkForwardNormal00.bvh'
# jointMotion = yf.readBvhFile(bvhFilePath)
# frameTime = 1/jointMotion.fps
pointMotion = joint2Point_Motion(jointMotion)
# pointMotion = joint2mm_Motion(jointMotion)
print('jointMotion.skeleton', jointMotion[0].skeleton)
print('pointMotion.skeleton', pointMotion[0].skeleton)
print('jointMotion.skeleton - pointMotion.skeleton', set(jointMotion[0].skeleton.joints.keys()) - pointMotion[0].skeleton.pointSet)
print('pointMotion.skeleton - jointMotion.skeleton', pointMotion[0].skeleton.pointSet - set(jointMotion[0].skeleton.joints.keys()))
motionSystem = ym.MotionSystem()
motionSystem.addMotion(pointMotion)
motionSystem.addMotion(jointMotion)
renderers = []
renderers.append(yr.PointMotionRenderer(pointMotion))
renderers.append(yr.JointMotionRenderer(jointMotion, (0,255,0), yr.LINK_LINE))
viewer = yv.Viewer2(100, 100, 800, 650, None, motionSystem, renderers)
# viewer = yv.MotionViewer(100, 100, 800, 650)
viewer.setRenderers(renderers)
viewer.setMotionSystem(motionSystem)
viewer.startTimer(frameTime)
viewer.show()
Fl.run()
def test_IMSModel_mesh():
frameTime = 1 / 30.
stepsPerFrame = 10
timeStep = frameTime / stepsPerFrame
print 'time step', timeStep
mesh, t = yol.readOgreDataFiles('../samples/woody2_15.mesh.xml', .01, None)
motion, frameTime = yf.readBvhFileAsJointMotion(
'../samples/wd2_WalkSameSame00.bvh', .01)
mesh.update(motion[0])
dynamicMu = .5
staticMu = 1.
particleConfigs = yiu.getParticleConfigsFromMesh(mesh, massMap, motion[:2],
dynamicMu, staticMu)
Ks = 10000.
Kd = 100.
springConfigs = yiu.getSpringConfigsFromMesh(mesh, Ks, Kd)
systemConfig = cmm.SystemConfig()
model = cmm.IMSModel(particleConfigs, springConfigs, systemConfig)
viewer = ysv.SimpleViewer()
# viewer.record(False)
viewer.doc.addRenderer('mesh', yr.MeshRenderer(mesh, (50, 100, 150)))
viewer.doc.addObject('mesh', mesh)
viewer.doc.addRenderer(
'motion', yr.JointMotionRenderer(motion, (0, 255, 255), yr.LINK_BONE))
viewer.doc.addObject('motion', motion)
viewer.doc.addRenderer('model', cr.IMSModelRenderer(model))
# viewer.setRecSimulObjs([model])
def preFrameCallback(frame):
mesh.update(motion[frame])
def simulateCallback(frame):
model.updateSprings(yiu.getSpringLengthsFromMesh(mesh, springConfigs))
for i in range(int(stepsPerFrame)):
model.step(timeStep)
viewer.setPreFrameCallback(preFrameCallback)
viewer.setSimulateCallback(simulateCallback)
viewer.startTimer(1 / 30.)
viewer.show()
Fl.run()
def test_joint2Point_Motion():
bvhFilePath = '../samples/physics2_WalkSameSame00.bvh'
jointMotion, frameTime = yf.readBvhFileAsJointMotion(bvhFilePath, .1)
pointMotion = joint2Point_Motion(jointMotion)
print 'jointMotion.skeleton', jointMotion[0].skeleton
print 'pointMotion.skeleton', pointMotion[0].skeleton
print 'jointMotion.skeleton - pointMotion.skeleton', set(jointMotion[0].skeleton.joints.keys()) - pointMotion[0].skeleton.pointSet
print 'pointMotion.skeleton - jointMotion.skeleton', pointMotion[0].skeleton.pointSet - set(jointMotion[0].skeleton.joints.keys())
motionSystem = ym.MotionSystem()
motionSystem.addMotion(pointMotion)
motionSystem.addMotion(jointMotion)
renderers = []
renderers.append(yr.PointMotionRenderer(pointMotion))
renderers.append(yr.JointMotionRenderer(jointMotion, (0,255,0), yr.LINK_LINE))
viewer = yv.Viewer2(100, 100, 800, 650, None, motionSystem, renderers)
viewer.startTimer(frameTime)
viewer.show()
Fl.run()
import psyco
psyco.full()
from fltk import *
import sys
sys.path.append('../PyCommon/modules')
import Math.mmMath as mmMath
import Resource.ysMotionLoader as yf
import Renderer.ysRenderer as yr
import GUI.ysSimpleViewer as ysv
if __name__ == "__main__":
motion0, frameTime = yf.readBvhFileAsJointMotion(
'Data/wd2_WalkSameSame00.bvh', .01)
motion1, frameTime = yf.readBvhFileAsJointMotion(
'Data/wd2_spiral_walk_normal05.bvh', .01)
length0 = mmMath.length(motion0[0].getGlobalPos('RightUpLeg') -
motion0[0].getGlobalPos('RightLeg'))
length1 = mmMath.length(motion1[0].getGlobalPos('RightUpLeg') -
motion1[0].getGlobalPos('RightLeg'))
scale = length0 / length1
print 'scale', scale
scaledMotion1, frameTime = yf.readBvhFileAsJointMotion(
'Data/wd2_spiral_walk_normal05.bvh', .01 * scale)
viewer = ysv.SimpleViewer()
viewer.record(False)
viewer.doc.addRenderer(
'motion0', yr.JointMotionRenderer(motion0, (255, 0, 0), yr.LINK_BONE))
def main():
# mesh = yol.readOgreMeshFileAsMesh('Data/box_rotate.mesh.xml', .1)
# mesh = yol.readOgreMeshFileAsMesh('Data/box.mesh.xml', .1)
# mesh = yol.readOgreMeshFileAsMesh('Data/foot_box.mesh.xml', .1)
# mesh = yol.readOgreMeshFileAsMesh('Data/woody2_4.mesh.xml', .01)
mesh, motions = yol.readOgreDataFiles('Data/woody2_7.mesh.xml', .01, None)
ysu.mergePoints(mesh)
print 'MESH'
print mesh
motion, frameTime = yf.readBvhFileAsJointMotion(
'Data/wd2_WalkSameSame00.bvh', .01)
motion = motion[:100]
mesh.update(motion[0])
config = {}
config['meshKs'] = 10000.
config['meshKd'] = 500.
config['muscleKs'] = 10000.
config['muscleKd'] = 500.
config['footKs'] = 10000.
config['footKd'] = 500.
# config['2D'] = True
config['vertexMasses'] = [1.] * len(mesh.vertices)
config['mu'] = 1.
model = csm.SpringModel3D(mesh, config)
print 'MODEL'
print model
print
viewer = ysv.SimpleViewer()
viewer.doc.addRenderer('mesh', yr.MeshRenderer(mesh))
viewer.doc.addObject('mesh', mesh)
viewer.doc.addRenderer(
'model', csr.SpringModel3DRenderer(model, (255, 255, 255), True, True))
viewer.setRecSimulObjs([model])
viewer.setMaxFrame(len(motion) - 1)
frameTime = 1. / 30.
stepsPerFrame = 10
timeStep = frameTime / stepsPerFrame
print 'SIMULATION'
print 'timeStep', timeStep
print
# with rendering
pt = [0]
def preFrameCallback(frame):
if frame == 0:
pt[0] = time.time()
mesh.update(motion[frame])
def simulateCallback(frame):
print frame
model.updateSprings(mesh)
for i in range(int(stepsPerFrame)):
model.step(timeStep)
print frame, model.getUpperCOMPos()[1]
if frame == len(motion) - 1:
print 'elapsed time:', time.time() - pt[0]
viewer.setPreFrameCallback(preFrameCallback)
viewer.setSimulateCallback(simulateCallback)
# # without rendering
# pt = time.time()
# for frame in range(len(motion)):
# motion.frame = frame
# mesh.update(motion[frame])
# model.updateSprings(mesh)
# for step in range(int(stepsPerFrame)):
# model.step(timeStep)
# print 'elapsed time:', time.time()-pt
viewer.startTimer(frameTime)
viewer.show()
Fl.run()