| import numpy as np | |
| from scipy import interpolate | |
| from anim import bvh, quat | |
| def change_bvh(filename, savename, order=None, fps=None, pace=1.0, center=False): | |
| anim_data = bvh.load(filename) | |
| output = anim_data.copy() | |
| if order is not None: | |
| output["order"] = order | |
| rotations = quat.unroll(quat.from_euler(np.radians(anim_data['rotations']), order=anim_data['order'])) | |
| output["rotations"] = np.degrees(quat.to_euler(rotations, order=output["order"])) | |
| if pace is not None or fps is not None: | |
| if fps is None: | |
| fps = 1.0 / anim_data["frametime"] | |
| positions = anim_data['positions'] | |
| rotations = quat.unroll(quat.from_euler(np.radians(anim_data['rotations']), order=anim_data['order'])) | |
| nframes = positions.shape[0] | |
| nbones = positions.shape[1] | |
| original_times = np.linspace(0, nframes - 1, nframes) | |
| sample_times = np.linspace( | |
| 0, nframes - 1, int(pace * (nframes * (fps * anim_data["frametime"]) - 1)) | |
| ) | |
| output["positions"] = interpolate.griddata(original_times, output["positions"].reshape([nframes, -1]), | |
| sample_times, method='cubic').reshape([len(sample_times), nbones, 3]) | |
| rotations = interpolate.griddata(original_times, rotations.reshape([nframes, -1]), | |
| sample_times, method='cubic').reshape([len(sample_times), nbones, 4]) | |
| rotations = quat.normalize(rotations) | |
| output["rotations"] = np.degrees(quat.to_euler(rotations, order=output["order"])) | |
| output["frametime"] = 1.0 / fps | |
| if center: | |
| lrot = quat.from_euler(np.radians(output["rotations"]), output["order"]) | |
| offset_pos = output["positions"][0:1, 0:1].copy() * np.array([1, 0, 1]) | |
| offset_rot = lrot[0:1, 0:1].copy() * np.array([1, 0, 1, 0]) | |
| root_pos = quat.mul_vec(quat.inv(offset_rot), output["positions"][:, 0:1] - offset_pos) | |
| output["positions"][:, 0:1] = quat.mul_vec(quat.inv(offset_rot), | |
| output["positions"][:, 0:1] - offset_pos) | |
| output["rotations"][:, 0:1] = np.degrees( | |
| quat.to_euler(quat.mul(quat.inv(offset_rot), lrot[:, 0:1]), order=output["order"])) | |
| bvh.save(savename, output) | |
| def write_bvh( | |
| filename, | |
| V_root_pos, | |
| V_root_rot, | |
| V_lpos, | |
| V_lrot, | |
| parents, | |
| names, | |
| order, | |
| dt, | |
| start_position=None, | |
| start_rotation=None, | |
| ): | |
| if start_position is not None and start_rotation is not None: | |
| offset_pos = V_root_pos[0:1].copy() | |
| offset_rot = V_root_rot[0:1].copy() | |
| V_root_pos = quat.mul_vec(quat.inv(offset_rot), V_root_pos - offset_pos) | |
| V_root_rot = quat.mul(quat.inv(offset_rot), V_root_rot) | |
| V_root_pos = ( | |
| quat.mul_vec(start_rotation[np.newaxis], V_root_pos) + start_position[np.newaxis] | |
| ) | |
| V_root_rot = quat.mul(start_rotation[np.newaxis], V_root_rot) | |
| V_lpos = V_lpos.copy() | |
| V_lrot = V_lrot.copy() | |
| V_lpos[:, 0] = quat.mul_vec(V_root_rot, V_lpos[:, 0]) + V_root_pos | |
| V_lrot[:, 0] = quat.mul(V_root_rot, V_lrot[:, 0]) | |
| bvh.save( | |
| filename, | |
| dict( | |
| order=order, | |
| offsets=V_lpos[0], | |
| names=names, | |
| frametime=dt, | |
| parents=parents, | |
| positions=V_lpos, | |
| rotations=np.degrees(quat.to_euler(V_lrot, order=order)), | |
| ), | |
| ) | |