assimp.assimp/code/BVHLoader.cpp

/** Implementation of the BVH loader */
/*
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Open Asset Import Library (assimp)
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*/


#ifndef ASSIMP_BUILD_NO_BVH_IMPORTER

#include "BVHLoader.h"
#include <assimp/fast_atof.h>
#include <assimp/SkeletonMeshBuilder.h>
#include <assimp/Importer.hpp>
#include <memory>
#include <assimp/TinyFormatter.h>
#include <assimp/IOSystem.hpp>
#include <assimp/scene.h>
#include <assimp/importerdesc.h>
#include <map>

using namespace Assimp;
using namespace Assimp::Formatter;

static const aiImporterDesc desc = {
    "BVH Importer (MoCap)",
    "",
    "",
    "",
    aiImporterFlags_SupportTextFlavour,
    0,
    0,
    0,
    0,
    "bvh"
};

// ------------------------------------------------------------------------------------------------
// Constructor to be privately used by Importer
BVHLoader::BVHLoader()
    : mLine(),
    mAnimTickDuration(),
    mAnimNumFrames(),
    noSkeletonMesh()
{}

// ------------------------------------------------------------------------------------------------
// Destructor, private as well
BVHLoader::~BVHLoader()
{}

// ------------------------------------------------------------------------------------------------
// Returns whether the class can handle the format of the given file.
bool BVHLoader::CanRead( const std::string& pFile, IOSystem* pIOHandler, bool cs) const
{
    // check file extension
    const std::string extension = GetExtension(pFile);

    if( extension == "bvh")
        return true;

    if ((!extension.length() || cs) && pIOHandler) {
        const char* tokens[] = {"HIERARCHY"};
        return SearchFileHeaderForToken(pIOHandler,pFile,tokens,1);
    }
    return false;
}

// ------------------------------------------------------------------------------------------------
void BVHLoader::SetupProperties(const Importer* pImp)
{
    noSkeletonMesh = pImp->GetPropertyInteger(AI_CONFIG_IMPORT_NO_SKELETON_MESHES,0) != 0;
}

// ------------------------------------------------------------------------------------------------
// Loader meta information
const aiImporterDesc* BVHLoader::GetInfo () const
{
    return &desc;
}

// ------------------------------------------------------------------------------------------------
// Imports the given file into the given scene structure.
void BVHLoader::InternReadFile( const std::string& pFile, aiScene* pScene, IOSystem* pIOHandler)
{
    mFileName = pFile;

    // read file into memory
    std::unique_ptr<IOStream> file( pIOHandler->Open( pFile));
    if( file.get() == NULL)
        throw DeadlyImportError( "Failed to open file " + pFile + ".");

    size_t fileSize = file->FileSize();
    if( fileSize == 0)
        throw DeadlyImportError( "File is too small.");

    mBuffer.resize( fileSize);
    file->Read( &mBuffer.front(), 1, fileSize);

    // start reading
    mReader = mBuffer.begin();
    mLine = 1;
    ReadStructure( pScene);

    if (!noSkeletonMesh) {
        // build a dummy mesh for the skeleton so that we see something at least
        SkeletonMeshBuilder meshBuilder( pScene);
    }

    // construct an animation from all the motion data we read
    CreateAnimation( pScene);
}

// ------------------------------------------------------------------------------------------------
// Reads the file
void BVHLoader::ReadStructure( aiScene* pScene)
{
    // first comes hierarchy
    std::string header = GetNextToken();
    if( header != "HIERARCHY")
        ThrowException( "Expected header string \"HIERARCHY\".");
    ReadHierarchy( pScene);

    // then comes the motion data
    std::string motion = GetNextToken();
    if( motion != "MOTION")
        ThrowException( "Expected beginning of motion data \"MOTION\".");
    ReadMotion( pScene);
}

// ------------------------------------------------------------------------------------------------
// Reads the hierarchy
void BVHLoader::ReadHierarchy( aiScene* pScene)
{
    std::string root = GetNextToken();
    if( root != "ROOT")
        ThrowException( "Expected root node \"ROOT\".");

    // Go read the hierarchy from here
    pScene->mRootNode = ReadNode();
}

// ------------------------------------------------------------------------------------------------
// Reads a node and recursively its childs and returns the created node;
aiNode* BVHLoader::ReadNode()
{
    // first token is name
    std::string nodeName = GetNextToken();
    if( nodeName.empty() || nodeName == "{")
        ThrowException( format() << "Expected node name, but found \"" << nodeName << "\"." );

    // then an opening brace should follow
    std::string openBrace = GetNextToken();
    if( openBrace != "{")
        ThrowException( format() << "Expected opening brace \"{\", but found \"" << openBrace << "\"." );

    // Create a node
    aiNode* node = new aiNode( nodeName);
    std::vector<aiNode*> childNodes;

    // and create an bone entry for it
    mNodes.push_back( Node( node));
    Node& internNode = mNodes.back();

    // now read the node's contents
    std::string siteToken;
    while( 1)
    {
        std::string token = GetNextToken();

        // node offset to parent node
        if( token == "OFFSET")
            ReadNodeOffset( node);
        else if( token == "CHANNELS")
            ReadNodeChannels( internNode);
        else if( token == "JOINT")
        {
            // child node follows
            aiNode* child = ReadNode();
            child->mParent = node;
            childNodes.push_back( child);
        }
        else if( token == "End")
        {
            // The real symbol is "End Site". Second part comes in a separate token
            siteToken.clear();
            siteToken = GetNextToken();
            if( siteToken != "Site")
                ThrowException( format() << "Expected \"End Site\" keyword, but found \"" << token << " " << siteToken << "\"." );

            aiNode* child = ReadEndSite( nodeName);
            child->mParent = node;
            childNodes.push_back( child);
        }
        else if( token == "}")
        {
            // we're done with that part of the hierarchy
            break;
        } else
        {
            // everything else is a parse error
            ThrowException( format() << "Unknown keyword \"" << token << "\"." );
        }
    }

    // add the child nodes if there are any
    if( childNodes.size() > 0)
    {
        node->mNumChildren = static_cast<unsigned int>(childNodes.size());
        node->mChildren = new aiNode*[node->mNumChildren];
        std::copy( childNodes.begin(), childNodes.end(), node->mChildren);
    }

    // and return the sub-hierarchy we built here
    return node;
}

// ------------------------------------------------------------------------------------------------
// Reads an end node and returns the created node.
aiNode* BVHLoader::ReadEndSite( const std::string& pParentName)
{
    // check opening brace
    std::string openBrace = GetNextToken();
    if( openBrace != "{")
        ThrowException( format() << "Expected opening brace \"{\", but found \"" << openBrace << "\".");

    // Create a node
    aiNode* node = new aiNode( "EndSite_" + pParentName);

    // now read the node's contents. Only possible entry is "OFFSET"
    std::string token;
    while( 1) {
        token.clear();
        token = GetNextToken();

        // end node's offset
        if( token == "OFFSET") {
            ReadNodeOffset( node);
        } else if( token == "}") {
            // we're done with the end node
            break;
        } else {
            // everything else is a parse error
            ThrowException( format() << "Unknown keyword \"" << token << "\"." );
        }
    }

    // and return the sub-hierarchy we built here
    return node;
}
// ------------------------------------------------------------------------------------------------
// Reads a node offset for the given node
void BVHLoader::ReadNodeOffset( aiNode* pNode)
{
    // Offset consists of three floats to read
    aiVector3D offset;
    offset.x = GetNextTokenAsFloat();
    offset.y = GetNextTokenAsFloat();
    offset.z = GetNextTokenAsFloat();

    // build a transformation matrix from it
    pNode->mTransformation = aiMatrix4x4( 1.0f, 0.0f, 0.0f, offset.x,
                                          0.0f, 1.0f, 0.0f, offset.y,
                                          0.0f, 0.0f, 1.0f, offset.z,
                                          0.0f, 0.0f, 0.0f, 1.0f);
}

// ------------------------------------------------------------------------------------------------
// Reads the animation channels for the given node
void BVHLoader::ReadNodeChannels( BVHLoader::Node& pNode)
{
    // number of channels. Use the float reader because we're lazy
    float numChannelsFloat = GetNextTokenAsFloat();
    unsigned int numChannels = (unsigned int) numChannelsFloat;

    for( unsigned int a = 0; a < numChannels; a++)
    {
        std::string channelToken = GetNextToken();

        if( channelToken == "Xposition")
            pNode.mChannels.push_back( Channel_PositionX);
        else if( channelToken == "Yposition")
            pNode.mChannels.push_back( Channel_PositionY);
        else if( channelToken == "Zposition")
            pNode.mChannels.push_back( Channel_PositionZ);
        else if( channelToken == "Xrotation")
            pNode.mChannels.push_back( Channel_RotationX);
        else if( channelToken == "Yrotation")
            pNode.mChannels.push_back( Channel_RotationY);
        else if( channelToken == "Zrotation")
            pNode.mChannels.push_back( Channel_RotationZ);
        else
            ThrowException( format() << "Invalid channel specifier \"" << channelToken << "\"." );
    }
}

// ------------------------------------------------------------------------------------------------
// Reads the motion data
void BVHLoader::ReadMotion( aiScene* /*pScene*/)
{
    // Read number of frames
    std::string tokenFrames = GetNextToken();
    if( tokenFrames != "Frames:")
        ThrowException( format() << "Expected frame count \"Frames:\", but found \"" << tokenFrames << "\".");

    float numFramesFloat = GetNextTokenAsFloat();
    mAnimNumFrames = (unsigned int) numFramesFloat;

    // Read frame duration
    std::string tokenDuration1 = GetNextToken();
    std::string tokenDuration2 = GetNextToken();
    if( tokenDuration1 != "Frame" || tokenDuration2 != "Time:")
        ThrowException( format() << "Expected frame duration \"Frame Time:\", but found \"" << tokenDuration1 << " " << tokenDuration2 << "\"." );

    mAnimTickDuration = GetNextTokenAsFloat();

    // resize value vectors for each node
    for( std::vector<Node>::iterator it = mNodes.begin(); it != mNodes.end(); ++it)
        it->mChannelValues.reserve( it->mChannels.size() * mAnimNumFrames);

    // now read all the data and store it in the corresponding node's value vector
    for( unsigned int frame = 0; frame < mAnimNumFrames; ++frame)
    {
        // on each line read the values for all nodes
        for( std::vector<Node>::iterator it = mNodes.begin(); it != mNodes.end(); ++it)
        {
            // get as many values as the node has channels
            for( unsigned int c = 0; c < it->mChannels.size(); ++c)
                it->mChannelValues.push_back( GetNextTokenAsFloat());
        }

        // after one frame worth of values for all nodes there should be a newline, but we better don't rely on it
    }
}

// ------------------------------------------------------------------------------------------------
// Retrieves the next token
std::string BVHLoader::GetNextToken()
{
    // skip any preceding whitespace
    while( mReader != mBuffer.end())
    {
        if( !isspace( *mReader))
            break;

        // count lines
        if( *mReader == '\n')
            mLine++;

        ++mReader;
    }

    // collect all chars till the next whitespace. BVH is easy in respect to that.
    std::string token;
    while( mReader != mBuffer.end())
    {
        if( isspace( *mReader))
            break;

        token.push_back( *mReader);
        ++mReader;

        // little extra logic to make sure braces are counted correctly
        if( token == "{" || token == "}")
            break;
    }

    // empty token means end of file, which is just fine
    return token;
}

// ------------------------------------------------------------------------------------------------
// Reads the next token as a float
float BVHLoader::GetNextTokenAsFloat()
{
    std::string token = GetNextToken();
    if( token.empty())
        ThrowException( "Unexpected end of file while trying to read a float");

    // check if the float is valid by testing if the atof() function consumed every char of the token
    const char* ctoken = token.c_str();
    float result = 0.0f;
    ctoken = fast_atoreal_move<float>( ctoken, result);

    if( ctoken != token.c_str() + token.length())
        ThrowException( format() << "Expected a floating point number, but found \"" << token << "\"." );

    return result;
}

// ------------------------------------------------------------------------------------------------
// Aborts the file reading with an exception
AI_WONT_RETURN void BVHLoader::ThrowException( const std::string& pError)
{
    throw DeadlyImportError( format() << mFileName << ":" << mLine << " - " << pError);
}

// ------------------------------------------------------------------------------------------------
// Constructs an animation for the motion data and stores it in the given scene
void BVHLoader::CreateAnimation( aiScene* pScene)
{
    // create the animation
    pScene->mNumAnimations = 1;
    pScene->mAnimations = new aiAnimation*[1];
    aiAnimation* anim = new aiAnimation;
    pScene->mAnimations[0] = anim;

    // put down the basic parameters
    anim->mName.Set( "Motion");
    anim->mTicksPerSecond = 1.0 / double( mAnimTickDuration);
    anim->mDuration = double( mAnimNumFrames - 1);

    // now generate the tracks for all nodes
    anim->mNumChannels = static_cast<unsigned int>(mNodes.size());
    anim->mChannels = new aiNodeAnim*[anim->mNumChannels];

    // FIX: set the array elements to NULL to ensure proper deletion if an exception is thrown
    for (unsigned int i = 0; i < anim->mNumChannels;++i)
        anim->mChannels[i] = NULL;

    for( unsigned int a = 0; a < anim->mNumChannels; a++)
    {
        const Node& node = mNodes[a];
        const std::string nodeName = std::string( node.mNode->mName.data );
        aiNodeAnim* nodeAnim = new aiNodeAnim;
        anim->mChannels[a] = nodeAnim;
        nodeAnim->mNodeName.Set( nodeName);
		std::map<BVHLoader::ChannelType, int> channelMap;

		//Build map of channels 
		for (unsigned int channel = 0; channel < node.mChannels.size(); ++channel)
		{
			channelMap[node.mChannels[channel]] = channel;
		}

        // translational part, if given
        if( node.mChannels.size() == 6)
        {
            nodeAnim->mNumPositionKeys = mAnimNumFrames;
            nodeAnim->mPositionKeys = new aiVectorKey[mAnimNumFrames];
            aiVectorKey* poskey = nodeAnim->mPositionKeys;
            for( unsigned int fr = 0; fr < mAnimNumFrames; ++fr)
            {
                poskey->mTime = double( fr);

                // Now compute all translations 
                for(BVHLoader::ChannelType channel = Channel_PositionX; channel <= Channel_PositionZ; channel = (BVHLoader::ChannelType)(channel +1))
                {
					//Find channel in node
					std::map<BVHLoader::ChannelType, int>::iterator mapIter = channelMap.find(channel);

					if (mapIter == channelMap.end())
						throw DeadlyImportError("Missing position channel in node " + nodeName);
					else {
						int channelIdx = mapIter->second;
						switch (channel) {
						    case Channel_PositionX: 
                                poskey->mValue.x = node.mChannelValues[fr * node.mChannels.size() + channelIdx]; 
                                break;
						    case Channel_PositionY: 
                                poskey->mValue.y = node.mChannelValues[fr * node.mChannels.size() + channelIdx]; 
                                break;
						    case Channel_PositionZ: 
                                poskey->mValue.z = node.mChannelValues[fr * node.mChannels.size() + channelIdx]; 
                                break;
                                
                            default:
                                break;
						}

					}
                }
                ++poskey;
            }
        } else
        {
            // if no translation part is given, put a default sequence
            aiVector3D nodePos( node.mNode->mTransformation.a4, node.mNode->mTransformation.b4, node.mNode->mTransformation.c4);
            nodeAnim->mNumPositionKeys = 1;
            nodeAnim->mPositionKeys = new aiVectorKey[1];
            nodeAnim->mPositionKeys[0].mTime = 0.0;
            nodeAnim->mPositionKeys[0].mValue = nodePos;
        }

        // rotation part. Always present. First find value offsets
        {

            // Then create the number of rotation keys
            nodeAnim->mNumRotationKeys = mAnimNumFrames;
            nodeAnim->mRotationKeys = new aiQuatKey[mAnimNumFrames];
            aiQuatKey* rotkey = nodeAnim->mRotationKeys;
            for( unsigned int fr = 0; fr < mAnimNumFrames; ++fr)
            {
                aiMatrix4x4 temp;
                aiMatrix3x3 rotMatrix;
				for (BVHLoader::ChannelType channel = Channel_RotationX; channel <= Channel_RotationZ; channel = (BVHLoader::ChannelType)(channel + 1))
				{
					//Find channel in node
					std::map<BVHLoader::ChannelType, int>::iterator mapIter = channelMap.find(channel);

					if (mapIter == channelMap.end())
						throw DeadlyImportError("Missing rotation channel in node " + nodeName);
					else {
						int channelIdx = mapIter->second;
						// translate ZXY euler angels into a quaternion
						const float angle = node.mChannelValues[fr * node.mChannels.size() + channelIdx] * float(AI_MATH_PI) / 180.0f;

						// Compute rotation transformations in the right order
						switch (channel)
						{
							case Channel_RotationX: 
                                aiMatrix4x4::RotationX(angle, temp); rotMatrix *= aiMatrix3x3(temp); 
                                break;
							case Channel_RotationY: 
                                aiMatrix4x4::RotationY(angle, temp); rotMatrix *= aiMatrix3x3(temp);  
                                break;
							case Channel_RotationZ: aiMatrix4x4::RotationZ(angle, temp); rotMatrix *= aiMatrix3x3(temp); 
                                break;
                            default:
                                break;
						}
					}
                }

                rotkey->mTime = double( fr);
                rotkey->mValue = aiQuaternion( rotMatrix);
                ++rotkey;
            }
        }

        // scaling part. Always just a default track
        {
            nodeAnim->mNumScalingKeys = 1;
            nodeAnim->mScalingKeys = new aiVectorKey[1];
            nodeAnim->mScalingKeys[0].mTime = 0.0;
            nodeAnim->mScalingKeys[0].mValue.Set( 1.0f, 1.0f, 1.0f);
        }
    }
}

#endif // !! ASSIMP_BUILD_NO_BVH_IMPORTER