def createAnimationTrack(self, jointsOrder=None, name="BVHMotion"):
"""
Create an animation track from the motion stored in this BHV file.
"""
if jointsOrder == None:
jointsData = [
joint.matrixPoses for joint in self.getJoints()
if not joint.isEndConnector()
]
# We leave out end effectors as they should not have animation data
else:
nFrames = self.frameCount
import re
# Remove the tail from duplicate bone names
for idx, jName in enumerate(jointsOrder):
# Joint mappings can contain a rotation compensation
if isinstance(jName, tuple):
jName, _ = jName
if not jName:
continue
r = re.search("(.*)_\d+$", jName)
if r:
jointsOrder[idx] = r.group(1)
jointsData = []
for jointName in jointsOrder:
if isinstance(jointName, tuple):
jointName, angle = jointName
else:
angle = 0.0
if jointName:
poseMats = self.getJointByCanonicalName(
jointName).matrixPoses.copy()
if isinstance(angle, float):
if angle != 0.0:
# Rotate around global Z axis
rot = tm.rotation_matrix(-angle * D, [0, 0, 1])
# Roll around global Y axis (this is a limitation)
roll = tm.rotation_matrix(angle * D, [0, 1, 0])
for i in xrange(nFrames):
# TODO make into numpy loop
poseMats[i] = np.dot(poseMats[i], rot)
poseMats[i] = np.dot(poseMats[i], roll)
else: # Compensation (angle) is a transformation matrix
# Compensate animation frames
for i in xrange(nFrames):
# TODO make into numpy loop
poseMats[i] = np.mat(poseMats[i]) * np.mat(angle)
#poseMats[i] = np.mat(angle) # Test compensated rest pose
jointsData.append(poseMats)
else:
jointsData.append(animation.emptyTrack(nFrames))
nJoints = len(jointsData)
nFrames = len(jointsData[0])
# Interweave joints animation data, per frame with joints in breadth-first order
animData = np.hstack(jointsData).reshape(nJoints * nFrames, 4, 4)
framerate = 1.0 / self.frameTime
return animation.AnimationTrack(name, animData, nFrames, framerate)
def _createAnimation(jointsData, name, frameTime, nFrames):
nJoints = len(jointsData)
#nFrames = len(jointsData[0])
# Interweave joints animation data, per frame with joints in breadth-first order
animData = np.hstack(jointsData).reshape(nJoints * nFrames, 3, 4)
framerate = 1.0 / frameTime
return animation.AnimationTrack(name, animData, nFrames, framerate)