anki-3d-engine/blenderscripts/skeleton_anim.py

import sys
from common import *
reload( sys.modules["common"] )
from Blender.Mathutils import *


# MulMatrix
def MulMatrix( m, b ):
	c = Matrix()
	c[0][0] = m[0][0]*b[0][0] + m[0][1]*b[1][0] + m[0][2]*b[2][0] + m[0][3]*b[3][0]
	c[0][1] = m[0][0]*b[0][1] + m[0][1]*b[1][1] + m[0][2]*b[2][1] + m[0][3]*b[3][1]
	c[0][2] = m[0][0]*b[0][2] + m[0][1]*b[1][2] + m[0][2]*b[2][2] + m[0][3]*b[3][2]
	c[0][3] = m[0][0]*b[0][3] + m[0][1]*b[1][3] + m[0][2]*b[2][3] + m[0][3]*b[3][3]
	c[1][0] = m[1][0]*b[0][0] + m[1][1]*b[1][0] + m[1][2]*b[2][0] + m[1][3]*b[3][0]
	c[1][1] = m[1][0]*b[0][1] + m[1][1]*b[1][1] + m[1][2]*b[2][1] + m[1][3]*b[3][1]
	c[1][2] = m[1][0]*b[0][2] + m[1][1]*b[1][2] + m[1][2]*b[2][2] + m[1][3]*b[3][2]
	c[1][3] = m[1][0]*b[0][3] + m[1][1]*b[1][3] + m[1][2]*b[2][3] + m[1][3]*b[3][3]
	c[2][0] = m[2][0]*b[0][0] + m[2][1]*b[1][0] + m[2][2]*b[2][0] + m[2][3]*b[3][0]
	c[2][1] = m[2][0]*b[0][1] + m[2][1]*b[1][1] + m[2][2]*b[2][1] + m[2][3]*b[3][1]
	c[2][2] = m[2][0]*b[0][2] + m[2][1]*b[1][2] + m[2][2]*b[2][2] + m[2][3]*b[3][2]
	c[2][3] = m[2][0]*b[0][3] + m[2][1]*b[1][3] + m[2][2]*b[2][3] + m[2][3]*b[3][3]
	c[3][0] = m[3][0]*b[0][0] + m[3][1]*b[1][0] + m[3][2]*b[2][0] + m[3][3]*b[3][0]
	c[3][1] = m[3][0]*b[0][1] + m[3][1]*b[1][1] + m[3][2]*b[2][1] + m[3][3]*b[3][1]
	c[3][2] = m[3][0]*b[0][2] + m[3][1]*b[1][2] + m[3][2]*b[2][2] + m[3][3]*b[3][2]
	c[3][3] = m[3][0]*b[0][3] + m[3][1]*b[1][3] + m[3][2]*b[2][3] + m[3][3]*b[3][3]
	return c



class bone_pose_t:
	def __init__(self):
		self.rotation = Quaternion( 1.0, 0.0, 0.0, 0.0 )
		self.translation = Vector( 0.0, 0.0, 0.0 )


class bone_anim_t:
	def __init__(self):
		self.keyframes = [] # before the "write to file" phase this array is ether empty
		                    # if the bone doesnt have animation or an array of poses
	
	
class skeleton_anim_t:
	def __init__(self):
		self.bones = []
		self.keyframes = []


#===================================================================================================
# ScriptAnim                                                                                       =
#===================================================================================================
def ScriptAnim( obj, b_cmnts ):
	
	if obj.getType() != "Armature":
		ERROR( "Select a skeleton and not a(n) " + obj.getType() )
		return 0
	
	skeleton = obj.getData( 0, 0 ) 
	
	
	# init and populate the instances
	skeleton_anim = skeleton_anim_t()
	skeleton_anim.keyframes = action.getFrameNumbers()
	
	bone_names = skeleton.bones.keys()
	bone_names.sort()
	
	for i in range( 0, len(bone_names) ):
		skeleton_anim.bones.append( bone_anim_t() )
		for j in range( 0, len(skeleton_anim.keyframes) ):
			skeleton_anim.bones[i].keyframes.append( bone_pose_t() )
	
	
	# now populate with the correct data
	# for all the kframes
	for i in range( 0, len(skeleton_anim.keyframes) ):
		kframe = skeleton_anim.keyframes[i]
		Blender.Set( "curframe", kframe )
		Blender.Redraw()
		pose = obj.getPose()
		
		# for all bones
		for j in range( 0, len(bone_names) ):
			bone_name = bone_names[j]
			pose_bone = pose.bones[bone_name]
			bone = skeleton.bones[bone_name]
			
			# rotation
			rot = pose_bone.quat.toMatrix()
			rot.resize4x4()
			# translation
			tra = Matrix()
			tra.identity()
			for m in range(0, 3):
				tra[m][3] = pose_bone.loc[m]
			# bone matris at armature space aka MA
			MA = Matrix( bone.matrix["ARMATURESPACE"] )
			MAi = Matrix( MA )
			MAi.invert()
			
			# calc the m4 = MA * tra * rot * MAi
			rot.transpose()
			tra.transpose()
			MA.transpose()
			MAi.transpose()
			
			m4 = MulMatrix( rot, MAi )
			m4 = MulMatrix( tra, m4 )
			m4 = MulMatrix( MA, m4 )
			
			m4.transpose()
			
			# get the final quat and loc
			quat = m4.rotationPart()
			quat = quat.toQuat()
			loc  = m4.translationPart()
			
			quat = pose_bone.quat
			loc = pose_bone.loc
			
			for k in range(0, 4):
				skeleton_anim.bones[j].keyframes[i].rotation[k] = quat[k]
			
			for k in range(0, 3):
				skeleton_anim.bones[j].keyframes[i].translation[k] = loc[k]
	
	Blender.Set( "curframe", 1 )
	Blender.Redraw()	
	
	
	# now do the apropriate for the bones without translation or rotation
	zero_vec = Vector( 0.0, 0.0, 0.0 )
	ident_quat = Quaternion( 1.0, 0.0, 0.0, 0.0 )
	# for all the bones
	for i in range( 0, len(bone_names) ):
		no_anim_num = 0   # how many times we found that the bone has no anim
		bone = skeleton_anim.bones[i]
		# for all the keyframes
		for j in range( 0, len(skeleton_anim.keyframes) ):
			
			if bone.keyframes[j].rotation == ident_quat and bone.keyframes[j].translation == zero_vec:
				no_anim_num = no_anim_num + 1
			
		if no_anim_num == len( skeleton_anim.keyframes ):
			print "Bone \"%s\" has no animation" % bone_names[ i ]
			bone.keyframes = []
	
		
	# write to ftxt
	ftxt = ""
	
	# the keyframes
	if b_cmnts:
		ftxt += "/*KEYFRAMES_NUM*/ "
	ftxt += len(skeleton_anim.keyframes) + "\n"
	
	if b_cmnts:
		ftxt += "/*KEYFRAMES*/ "
	for kf in skeleton_anim.keyframes:
		ftxt += str(kf - 1)
	ftxt += "\n"
	
	# the bones num
	if b_cmnts:
		ftxt += "/*BONES_NUM*/ " 
	ftxt += str( len(bone_names) )
	
	for i in range( 0, len(bone_names) ):
		bone = skeleton_anim.bones[i]
		if b_cmnts:
			ftxt += "\t/*BONE_NAME " + bone_names[i] + "*/\n"
		
		if len( bone.keyframes ):
			if b_cmnts:
				ftxt += "\t\t/*HAS_ANIM*/ "
			ftxt += "1\n"
			
			for j in range( 0, len( skeleton_anim.keyframes ) ):
				file.write( "\t\tKEYFRAME %d\n" % (skeleton_anim.keyframes[j] - 1) ) # -1 cause my keyframes start from 0
				if b_cmnts:
					ftxt += "\t\t/*KEYFRAME" + str(skeleton_anim.keyframes[j] - 1) + "*/\n"
				
				# write rotation			
				if b_cmnts:
					ftxt += "\t\t\t/*ROTATION*/ "
				for k in range( 0, 4 ):
					ftxt += str( bone.keyframes[j].rotation[k] ) + " "
				ftxt += "\n"
				
				# write translation
				if b_cmnts:
					ftxt += "\t\t\t/*TRANSLATION*/ "
				for k in range( 0, 3 ):
					ftxt += str( bone.keyframes[j].translation[k] ) + " "
				ftxt += "\n"
			
		else:
			if b_cmnts:
				ftxt += "\t\t/*HAS_ANIM*/ "
			ftxt += "0\n"
	
	return ftxt



#===================================================================================================
# ExportAnim                                                                                       =
#===================================================================================================
def ExportAnim( path, obj, b_cmnts ):
	print obj.__class__.__name__
	

	
	
	action = obj.getAction()
	if action == 0:
		ERROR( "Empty action for obj " + obj.getName() )
		return false
	
	INFO( "Trying to export skeleton animation \"" + skeleton.name + "\"" )
	
	filename = path + action.name + "." + obj.getName() + ".anim"
	WriteFile( filename, ScriptAnim( obj, b_cmnts ) )
	
	INFO( "Skeleton animation exported!! \"" + filename + "\"" )