def calcTransform(self, recursive=True):
if self.parent:
self.transform = self.parent.transform[:]
else:
self.transform = makeUnit()
m = makeTranslation(*self.offset)
self.transform = mmul(self.transform, m)
m = euler2matrix(self.rotation, "syxz")
self.transform = mmul(self.transform, m)
self.normalTransform = _transpose(invTransform(self.transform), 4, 4)
if recursive:
for child in self.children:
child.calcTransform(recursive)
def calcTransform(self, recursive=True):
if self.parent:
self.transform = self.parent.transform[:]
else:
self.transform = makeUnit()
m = makeTranslation(*self.offset)
self.transform = mmul(self.transform, m)
m = euler2matrix(self.rotation, "syxz")
self.transform = mmul(self.transform, m)
self.normalTransform = _transpose(invTransform(self.transform), 4, 4)
if recursive:
for child in self.children:
child.calcTransform(recursive)
def updateFrame(self, frame, scale=0.10):
if self.parent:
self.transform = self.parent.transform[:]
else:
self.transform = makeUnit() #makeScale(scale)
m = makeTranslation(self.offset[0], self.offset[1], self.offset[2])
self.transform = mmul(self.transform, m) #parent postmultiply with offset
if frame >= 0 and frame < len(self.frames):
index = 0
Ryxz = [0.0, 0.0, 0.0]
Txyz = [0.0, 0.0, 0.0]
for index, channel in enumerate(self.channels):
if channel == 'Xposition':
Txyz[0] = scale*self.frames[frame][index]
elif channel == 'Yposition':
Txyz[1] = scale*self.frames[frame][index]
elif channel == 'Zposition':
Txyz[2] = scale*self.frames[frame][index]
if channel == 'Xrotation':
Ryxz[1] = self.frames[frame][index] * degree2rad
elif channel == 'Yrotation':
Ryxz[0] = self.frames[frame][index] * degree2rad
elif channel == 'Zrotation':
Ryxz[2] = self.frames[frame][index] * degree2rad
#self.translation = Txyz[:]
self.rotation = Ryxz[:]
m = euler2matrix(Ryxz, "syxz")
m[3], m[7], m[11] = Txyz[0], Txyz[1], Txyz[2]
self.transform = mmul(self.transform, m) # parent post multiply with transformations
for child in self.children:
child.updateFrame(frame)
def setupFkBones(srcRig, trgRig, boneMapping, anim):
keepOffsets = KeepRotationOffset + FootBones
keepOffsInverts = []
if USE_SPINE_OFFSET:
keepOffsets += SpineBones
keepOffsInverts += SpineBones
if USE_CLAVICLE_OFFSET:
keepOffsets += ClavBones
keepOffsInverts += ClavBones
# Simplified mapping: src to MHX
for (srcName, trgName) in boneMapping:
try:
srcBone = srcRig.getJoint(srcName)
trgBone = trgRig.getJoint(trgName)
except:
print(" -", trgName, srcName)
continue
# Create direct mapping between bones
boneData = CBoneData(srcBone, trgBone)
anim.boneDatas[trgName] = boneData
anim.boneDataList.append(boneData)
# Assign rest pose matrix (position relative to root)
boneData.trgRestMat = trgBone.rest_mat
boneData.trgRestInv = aljabr.invTransform(trgBone.rest_mat)
boneData.trgBakeMat = boneData.trgRestMat
# Inherit rotation from parent bone
if trgBone.parent: #trgBone.bone.use_inherit_rotation:
try:
boneData.parent = anim.boneDatas[trgBone.parent.name]
parRest = boneData.parent.trgRestMat
parRestInv = boneData.parent.trgRestInv
offs = sub(trgBone.position, trgBone.parent.tail)
# calculate offset in global coordinates (relative to root)
boneData.trgOffset = aljabr.mmul( aljabr.mmul(parRestInv, aljabr.getTranslation(offs)), parRest)
boneData.trgBakeMat = aljabr.mmul(parRestInv, boneData.trgRestMat)
#print(trgName, trgBone.parent.name)
except:
pass
trgRoll = getRoll(trgBone) # TODO will be 0
srcRoll = getSourceRoll(srcName) * Deg2Rad
diff = srcRoll - trgRoll
# Determine whether offset between src and target has to be kept for this bone
if srcName in keepOffsets:
# rotation offset transformtaion between src and target bone rest
offs = aljabr.mmul(trgBone.rest_mat, aljabr.invTransform(srcBone.rest_mat))
boneData.rotOffset = aljabr.mmul( aljabr.mmul(boneData.trgRestInv, offs), boneData.trgRestMat )
if trgName in keepOffsInverts:
boneData.rotOffsInv = aljabr.invTransform(boneData.rotOffset)
# If not keepOffsets and rotation is above threshold, make rot matrix
elif abs(diff) > 0.02:
#boneData.rollMat = Matrix.Rotation(diff, 4, 'Y')
boneData.rollMat = aljabr.makeRotMatrix(diff, [0,1,0])
boneData.rollMat = aljabr.rotMatrix2Matrix4(boneData.rollMat)
boneData.rollInv = aljabr.invTransform(boneData.rollMat)
boneData.trgBakeInv = aljabr.invTransform(boneData.trgBakeMat)
return
def setupFkBones(srcRig, trgRig, boneMapping, anim):
keepOffsets = KeepRotationOffset + FootBones
keepOffsInverts = []
if USE_SPINE_OFFSET:
keepOffsets += SpineBones
keepOffsInverts += SpineBones
if USE_CLAVICLE_OFFSET:
keepOffsets += ClavBones
keepOffsInverts += ClavBones
# Simplified mapping: src to MHX
for (srcName, trgName) in boneMapping:
try:
srcBone = srcRig.getJoint(srcName)
trgBone = trgRig.getJoint(trgName)
except:
print(" -", trgName, srcName)
continue
# Create direct mapping between bones
boneData = CBoneData(srcBone, trgBone)
anim.boneDatas[trgName] = boneData
anim.boneDataList.append(boneData)
# Assign rest pose matrix (position relative to root)
boneData.trgRestMat = trgBone.rest_mat
boneData.trgRestInv = aljabr.invTransform(trgBone.rest_mat)
boneData.trgBakeMat = boneData.trgRestMat
# Inherit rotation from parent bone
if trgBone.parent: #trgBone.bone.use_inherit_rotation:
try:
boneData.parent = anim.boneDatas[trgBone.parent.name]
parRest = boneData.parent.trgRestMat
parRestInv = boneData.parent.trgRestInv
offs = sub(trgBone.position, trgBone.parent.tail)
# calculate offset in global coordinates (relative to root)
boneData.trgOffset = aljabr.mmul(
aljabr.mmul(parRestInv, aljabr.getTranslation(offs)),
parRest)
boneData.trgBakeMat = aljabr.mmul(parRestInv,
boneData.trgRestMat)
#print(trgName, trgBone.parent.name)
except:
pass
trgRoll = getRoll(trgBone) # TODO will be 0
srcRoll = getSourceRoll(srcName) * Deg2Rad
diff = srcRoll - trgRoll
# Determine whether offset between src and target has to be kept for this bone
if srcName in keepOffsets:
# rotation offset transformtaion between src and target bone rest
offs = aljabr.mmul(trgBone.rest_mat,
aljabr.invTransform(srcBone.rest_mat))
boneData.rotOffset = aljabr.mmul(
aljabr.mmul(boneData.trgRestInv, offs), boneData.trgRestMat)
if trgName in keepOffsInverts:
boneData.rotOffsInv = aljabr.invTransform(boneData.rotOffset)
# If not keepOffsets and rotation is above threshold, make rot matrix
elif abs(diff) > 0.02:
#boneData.rollMat = Matrix.Rotation(diff, 4, 'Y')
boneData.rollMat = aljabr.makeRotMatrix(diff, [0, 1, 0])
boneData.rollMat = aljabr.rotMatrix2Matrix4(boneData.rollMat)
boneData.rollInv = aljabr.invTransform(boneData.rollMat)
boneData.trgBakeInv = aljabr.invTransform(boneData.trgBakeMat)
return