def _apply_rotation(self, rot):
b_q = mathutils.Quaternion((rot[3], rot[0], rot[1],
rot[2]))
r = 1.0
b_q = mathutils.Quaternion((b_q.w, b_q.x, b_q.y, b_q.z))
euler = b_q.to_euler()
return (euler[0]*r, euler[1]*r, (euler[2])*r)
def _apply_rotation(self, rot):
b_q = mathutils.Quaternion(rot[3], rot[0], rot[1],
rot[2])
#b_q1 = b_q.cross(Blender.Mathutils.Quaternion([0,-1,0]))
#b_q2 = b_q1.cross(Blender.Mathutils.Quaternion([-1,0,0]))
#b_q3 = b_q2.cross(Blender.Mathutils.Quaternion([0,0,-1]))
r = math.pi/180.0;
if b_q:
b_q = mathutils.Quaternion(b_q.w, b_q.x, b_q.y, b_q.z)
euler = b_q.toEuler()
return (euler[0]*r, euler[1]*r, (euler[2])*r)
def bone_transform(self, bone_name="Root"):
""" Return 4x4 transform matrix giving bone's chage. """
frames = self.action.getFrameNumbers()
(first, last) = (frames[0], frames[-1])
ipo = self.action.getChannelIpo(bone_name)
position_first = Mathutils.Vector( \
list(ipo[key][first] for key in act_position_keys))
position_last = Mathutils.Vector( \
list(ipo[key][last] for key in act_position_keys))
rotation_first = Mathutils.Quaternion( \
list(ipo[key][first] for key in act_rotation_keys))
rotation_last = Mathutils.Quaternion( \
list(ipo[key][last] for key in act_rotation_keys))
delta_position = position_last - position_first
delta_rotation = Mathutils.DifferenceQuats(rotation_last, rotation_first)
return offset_and_rotation_to_matrix(delta_position, delta_rotation)
def _get_local_rot(self, rot, parent):
return rot
parent_imatrix = parent.matrix_world.copy().invert()
euler = mathutils.Quaternion((rot[3], rot[0], rot[1], rot[2]))
r_mat = euler.to_matrix().to_4x4()
l_rmat = r_mat*parent_imatrix
try:
rot = l_rmat.to_quaternion()
except:
# blender 2.56
rot = l_rmat.to_quat()
return (rot.w, rot.x, rot.y, rot.z)
def run_tests(self):
""" The unit tests. """
self.tests_run = 0
self.tests_ok = 0
print "=== Starting tests. ==="
# --- start of tests --------------------------------------------------
# ... ok infrastructure
self.ok(1==1, "ok itself")
# ... get()
self.ok(get("mannequin").name=="mannequin", "get('mannequin')")
self.ok(get("default action").name=="default action",
" get('default action')")
act1 = bpy.data.actions['step forward L to R']
self.ok(get(act1).name=='step forward L to R', ' get(action)')
s1 = Step('step forward L to R')
self.ok(get(s1).name=='step forward L to R', ' get(Step())')
get_blank = True
try:
get("")
except:
get_blank = False
self.ok(not get_blank, " get('') raises exception.")
# ... blender_frame() ...
Blender.Set('curframe', 1)
self.ok(1 == blender_frame(), 'frame()')
blender_frame(2)
self.ok(2 == blender_frame(), ' frame(2)')
# ... max_matrix() ...
self.ok(max_matrix([[1,2,3],[-4,3,2]])==4, 'max_matrix()')
# ... Step().bone_transform ...
action_name = 'step back L to R'
position = Mathutils.Vector(0.0, 4.91, 0.0)
rotation = Mathutils.Quaternion(1,0,0,0) # no rotation
transform = offset_and_rotation_to_matrix(position, rotation)
motion = Step(action_name).bone_transform()
# print " transform = '%s' " % str(transform)
# print " motion = '%s' " % str(motion)
max_diff = max_matrix(motion - transform)
allowed_diff = 1.0e-3
self.ok( max_diff < allowed_diff, "Step('%s').bone_transform()" % action_name)
step1 = Step('forward')
self.ok(step1.action.name=='step forward L to R', " Step('forward')")
step2 = Step('forward', 'L', mirror=True)
self.ok(step2.action.name=='step back R to L', " step mirrored")
self.ok(Step.flip('forward')=='back', " Step.flip()")
# ... model ...
man = Model("man")
self.ok(man != None, "Model('man')")
man.reset()
self.ok(len(man.model.actionStrips)==1, " reset() actionstrips")
self.ok(len(man.model.ipo.curves[0].bezierPoints)==1, " reset() ipo")
frames = 12
action_name = 'step forward L to R'
man.add_motion(action_name, frames)
## print " step : '%s'" % str(step_L_to_R)
## print " name : '%s'" % step_L_to_R.action.name
## print " strip1 : '%s'" % str(man.model.actionStrips[1])
## print " name : '%s'" % str(man.model.actionStrips[1].action.name)
# actionstrip objects are different ... that surprized me.
# but name is OK; I guess it makes a copy somewhere.
# self.ok(man.model.actionStrips[1] == step_L_to_R, " add_motion()")
step_L_to_R = man.model.actionStrips[-1]
self.ok(step_L_to_R.action.name == action_name, " add_motion()")
actual_frames = step_L_to_R.stripEnd - step_L_to_R.stripStart
self.ok(actual_frames == frames, " frame length")
man.housekeeping()
end0 = man.model.actionStrips[0].stripEnd
self.ok(end0 == start_frame + frames, " housekeeping() strip0")
action_name_2 = 'step side R to L'
man.add_motion(action_name_2, frames)
man.housekeeping()
blender_frame(25)
self.ok(abs(man.model.LocY - (-1.007)) < 0.01, ' add_location moves obj')
## ...
# woman walking backwards ... used for manual testing
if (False):
woman = Model('woman')
woman.reset()
# woman makes 3 steps; let's see if object follows backward motion
# ... looking at blender window, appears to work,
# but RotZ jumps between +180 and -180,
# and ipo points are left selected.
steps = ('step back L to R', 'step shift R to L', 'step back L to R')
for s in steps:
woman.add_motion(s, frames)
woman.housekeeping()
# ...
# couple walk sequence
woman = Model('woman')
seq = ['forward', 'side', 'shift', 'back', 'side', 'shift']
man.walk_sequence('L', seq, woman)
def toBlenderQuat(q):
#print "\nq = ", q
return bMath.Quaternion(q[3], q[0], q[1], q[2])
def toBlenderQuat(self, q):
q = q.inverse().normalize()
return bMath.Quaternion(q[3], q[0], q[1], q[2])