def calc_finger(bf: VmdBoneFrame, motion: VmdMotion, model: PmxModel,
jname: str, default_joints: dict, frame_joints: dict,
name_list: list, parent_list: list):
rotation = calc_direction_qq(bf.fno, motion, frame_joints, *name_list)
bone_initial = calc_bone_direction_qq(bf, motion, model, jname, *name_list)
qq = MQuaternion()
for parent_name in reversed(parent_list):
qq *= motion.calc_bf(parent_name, bf.fno).rotation.inverted()
qq = qq * rotation * bone_initial.inverted()
_, _, z_qq, _ = separate_local_qq(bf.fno, bf.name, qq,
model.get_local_x_axis(bf.name))
z_limited_qq = MQuaternion.fromAxisAndAngle(
MVector3D(0, 0, -1 * (-1 if "right" in jname else 1)),
min(90, z_qq.toDegree()))
bf.rotation = z_limited_qq
motion.regist_bf(bf, bf.name, bf.fno)
def calc_bone_direction_qq(bf: VmdBoneFrame, motion: VmdMotion,
model: PmxModel, jname: str,
direction_from_name: str, direction_to_name: str,
up_from_name: str, up_to_name: str):
direction_from_vec = get_bone_vec3(model, direction_from_name)
direction_to_vec = get_bone_vec3(model, direction_to_name)
up_from_vec = get_bone_vec3(model, up_from_name)
up_to_vec = get_bone_vec3(model, up_to_name)
direction = (direction_to_vec - direction_from_vec).normalized()
up = (up_to_vec - up_from_vec).normalized()
qq = MQuaternion.fromDirection(direction, up)
return qq
def calc_direction_qq(bf: VmdBoneFrame, motion: VmdMotion, joints: dict,
direction_from_name: str, direction_to_name: str,
up_from_name: str, up_to_name: str):
direction_from_vec = get_vec3(joints["joints"], direction_from_name)
direction_to_vec = get_vec3(joints["joints"], direction_to_name)
up_from_vec = get_vec3(joints["joints"], up_from_name)
up_to_vec = get_vec3(joints["joints"], up_to_name)
direction = (direction_to_vec - direction_from_vec).normalized()
up = (up_to_vec - up_from_vec).normalized()
cross = MVector3D.crossProduct(direction, up)
qq = MQuaternion.fromDirection(direction, cross)
return qq
def calc_bone_direction_qq2(bf: VmdBoneFrame, motion: VmdMotion,
model: PmxModel, jname: str,
direction_from_name: str, direction_to_name: str,
up_from_name: str, up_to_name: str,
cross_from_name: str, cross_to_name: str):
direction_from_vec = get_bone_vec3(model, direction_from_name)
direction_to_vec = get_bone_vec3(model, direction_to_name)
up_from_vec = get_bone_vec3(model, up_from_name)
up_to_vec = get_bone_vec3(model, up_to_name)
cross_from_vec = get_bone_vec3(model, cross_from_name)
cross_to_vec = get_bone_vec3(model, cross_to_name)
direction = (direction_to_vec - direction_from_vec).normalized()
up = (up_to_vec - up_from_vec).normalized()
cross = (cross_to_vec - cross_from_vec).normalized()
qq = MQuaternion.fromDirection(direction,
MVector3D.crossProduct(up, cross))
return qq
def execute(cmd_args):
folder_path = cmd_args.folder_path
bone_csv_path = cmd_args.bone_csv_path
model = read_bone_csv(bone_csv_path)
logger.info(model)
motion = VmdMotion()
# 動画上の関節位置
for fno, joints_path in enumerate(
glob.glob(osp.join(folder_path, '**/*_joints.json'))):
logger.info(f"■ fno: {fno} -----")
frame_joints = {}
with open(joints_path, 'r') as f:
frame_joints = json.load(f)
bf = VmdBoneFrame(fno)
bf.set_name("センター")
bf.position = calc_center(frame_joints)
motion.regist_bf(bf, bf.name, bf.fno)
for jname, (bone_name, calc_bone, name_list, parent_list,
ranges) in VMD_CONNECTIONS.items():
if name_list is None:
continue
bf = VmdBoneFrame(fno)
bf.set_name(bone_name)
if calc_bone is None:
if len(name_list) == 4:
rotation = calc_direction_qq(bf.fno, motion, frame_joints,
*name_list)
initial = calc_bone_direction_qq(bf, motion, model, jname,
*name_list)
else:
rotation = calc_direction_qq2(bf.fno, motion, frame_joints,
*name_list)
initial = calc_bone_direction_qq2(bf, motion, model, jname,
*name_list)
qq = MQuaternion()
for parent_name in reversed(parent_list):
qq *= motion.calc_bf(parent_name,
bf.fno).rotation.inverted()
qq = qq * rotation * initial.inverted()
if ranges:
# 可動域指定がある場合
x_qq, y_qq, z_qq, _ = separate_local_qq(
bf.fno, bf.name, qq, model.get_local_x_axis(bf.name))
local_x_axis = model.get_local_x_axis(bf.name)
local_z_axis = MVector3D(
0, 0, -1 * (-1 if "right" in jname else 1))
local_y_axis = MVector3D.crossProduct(
local_x_axis, local_z_axis)
x_limited_qq = MQuaternion.fromAxisAndAngle(
local_x_axis,
max(
ranges["x"]["min"],
min(
ranges["x"]["max"],
x_qq.toDegree() * MVector3D.dotProduct(
local_x_axis, x_qq.vector()))))
y_limited_qq = MQuaternion.fromAxisAndAngle(
local_y_axis,
max(
ranges["y"]["min"],
min(
ranges["y"]["max"],
y_qq.toDegree() * MVector3D.dotProduct(
local_y_axis, y_qq.vector()))))
z_limited_qq = MQuaternion.fromAxisAndAngle(
local_z_axis,
max(
ranges["z"]["min"],
min(
ranges["z"]["max"],
z_qq.toDegree() * MVector3D.dotProduct(
local_z_axis, z_qq.vector()))))
bf.rotation = y_limited_qq * x_limited_qq * z_limited_qq
else:
bf.rotation = qq
motion.regist_bf(bf, bf.name, bf.fno)
# 動画内の半分は地面に足が着いていると見なす
center_values = np.zeros((1, 3))
for bf in motion.bones["センター"].values():
center_values = np.insert(
center_values,
0,
np.array([bf.position.x(),
bf.position.y(),
bf.position.z()]),
axis=0)
center_median = np.median(center_values, axis=0)
for bf in motion.bones["センター"].values():
bf.position.setY(bf.position.y() - center_median[1])
writer = VmdWriter(
motion, model,
osp.join(
folder_path, "output_{0}.vmd".format(
datetime.datetime.now().strftime('%Y%m%d_%H%M%S'))))
writer.write()
def convert_leg_fk2ik(direction: str, motion: VmdMotion, model: PmxModel):
logger.info("足ＩＫ変換 【%s足ＩＫ】", direction, decoration=MLogger.DECORATION_LINE)
leg_ik_bone_name = "{0}足ＩＫ".format(direction)
toe_ik_bone_name = "{0}つま先ＩＫ".format(direction)
leg_bone_name = "{0}足".format(direction)
knee_bone_name = "{0}ひざ".format(direction)
ankle_bone_name = "{0}足首".format(direction)
# 足FK末端までのリンク
fk_links = model.create_link_2_top_one(ankle_bone_name, is_defined=False)
# 足IK末端までのリンク
ik_links = model.create_link_2_top_one(leg_ik_bone_name, is_defined=False)
# つま先IK末端までのリンク
toe_ik_links = model.create_link_2_top_one(toe_ik_bone_name,
is_defined=False)
# つま先（足首の子ボーン）の名前
ankle_child_bone_name = "{0}つま先".format(direction)
# つま先末端までのリンク
toe_fk_links = model.create_link_2_top_one(ankle_child_bone_name,
is_defined=False)
fnos = motion.get_bone_fnos(leg_bone_name, knee_bone_name, ankle_bone_name)
# まずキー登録
prev_sep_fno = 0
for fno in fnos:
bf = motion.calc_bf(leg_ik_bone_name, fno)
motion.regist_bf(bf, leg_ik_bone_name, fno)
if fno // 2000 > prev_sep_fno and fnos[-1] > 0:
logger.info("-- %sフレーム目:終了(%s％)【準備 - %s】", fno,
round((fno / fnos[-1]) * 100, 3), leg_ik_bone_name)
prev_sep_fno = fno // 2000
if len(fnos) > 0 and fnos[-1] > 0:
logger.info("-- %sフレーム目:終了(%s％)【準備 - %s】", fnos[-1],
round((fnos[-1] / fnos[-1]) * 100, 3), leg_ik_bone_name)
logger.info("準備完了 【%s足ＩＫ】", direction, decoration=MLogger.DECORATION_LINE)
ik_parent_name = ik_links.get(leg_ik_bone_name, offset=-1).name
# 足IKの移植
prev_sep_fno = 0
# 移植
for fno in fnos:
leg_fk_3ds_dic = calc_global_pos(model, fk_links, motion, fno)
_, leg_ik_matrixs = calc_global_pos(model,
ik_links,
motion,
fno,
return_matrix=True)
# IKの親から見た相対位置
leg_ik_parent_matrix = leg_ik_matrixs[ik_parent_name]
bf = motion.calc_bf(leg_ik_bone_name, fno)
# 足ＩＫの位置は、足ＩＫの親から見た足首のローカル位置（足首位置マイナス）
bf.position = leg_ik_parent_matrix.inverted() * (
leg_fk_3ds_dic[ankle_bone_name] -
(model.bones[ankle_bone_name].position -
model.bones[ik_parent_name].position))
# 足首の角度がある状態での、つま先までのグローバル位置
leg_toe_fk_3ds_dic = calc_global_pos(model, toe_fk_links, motion, fno)
# 一旦足ＩＫの位置が決まった時点で登録
motion.regist_bf(bf, leg_ik_bone_name, fno)
# 足ＩＫ回転なし状態でのつま先までのグローバル位置
leg_ik_3ds_dic, leg_ik_matrisxs = calc_global_pos(model,
toe_ik_links,
motion,
fno,
return_matrix=True)
# つま先のローカル位置
ankle_child_initial_local_pos = leg_ik_matrisxs[
leg_ik_bone_name].inverted() * leg_ik_3ds_dic[toe_ik_bone_name]
ankle_child_local_pos = leg_ik_matrisxs[leg_ik_bone_name].inverted(
) * leg_toe_fk_3ds_dic[ankle_child_bone_name]
# 足ＩＫの回転は、足首から見たつま先の方向
bf.rotation = MQuaternion.rotationTo(ankle_child_initial_local_pos,
ankle_child_local_pos)
motion.regist_bf(bf, leg_ik_bone_name, fno)
if fno // 2000 > prev_sep_fno and fnos[-1] > 0:
logger.info("-- %sフレーム目:終了(%s％)【足ＩＫ変換 - %s】", fno,
round((fno / fnos[-1]) * 100, 3), leg_ik_bone_name)
prev_sep_fno = fno // 2000
if len(fnos) > 0 and fnos[-1] > 0:
logger.info("-- %sフレーム目:終了(%s％)【足ＩＫ変換 - %s】", fnos[-1],
round((fnos[-1] / fnos[-1]) * 100, 3), leg_ik_bone_name)
logger.info("変換完了 【%s足ＩＫ】", direction, decoration=MLogger.DECORATION_LINE)