0235bfc147445e35fe0cec7bf267421129f32222
[blender.git] / release / scripts / modules / retarget.py
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18
19 # <pep8 compliant>
20
21 import bpy
22 from mathutils import *
23 from math import radians, acos
24 from bl_operators import nla
25 import cProfile
26
27
28 def hasIKConstraint(pose_bone):
29     #utility function / predicate, returns True if given bone has IK constraint
30     ik = [constraint for constraint in pose_bone.constraints if constraint.type == "IK"]
31     if ik:
32         return ik[0]
33     else:
34         return False
35
36
37 def createDictionary(perf_arm, end_arm):
38     # clear any old data
39     for end_bone in end_arm.bones:
40         for mapping in end_bone.reverseMap:
41             end_bone.reverseMap.remove(0)
42
43     for perf_bone in perf_arm.bones:
44         #find its match and add perf_bone to the match's mapping
45         if perf_bone.map:
46             end_bone = end_arm.bones[perf_bone.map]
47             newMap = end_bone.reverseMap.add()
48             newMap.name = perf_bone.name
49             end_bone.foot = perf_bone.foot
50
51     #root is the root of the enduser
52     root = end_arm.bones[0].name
53     feetBones = [bone.name for bone in perf_arm.bones if bone.foot]
54     return feetBones, root
55
56 def loadMapping(perf_arm, end_arm):
57
58     for end_bone in end_arm.bones:
59         #find its match and add perf_bone to the match's mapping
60         if end_bone.reverseMap:
61             for perf_bone in end_bone.reverseMap:
62                 perf_arm.bones[perf_bone.name].map = end_bone.name
63
64 #creation of intermediate armature
65 # the intermediate armature has the hiearchy of the end user,
66 # does not have rotation inheritence
67 # and bone roll is identical to the performer
68 # its purpose is to copy over the rotations
69 # easily while concentrating on the hierarchy changes
70
71
72 def createIntermediate(performer_obj, enduser_obj, root, s_frame, e_frame, scene):
73     #creates and keyframes an empty with its location
74     #the original position of the tail bone
75     #useful for storing the important data in the original motion
76     #i.e. using this empty to IK the chain to that pos / DEBUG
77
78     #Simple 1to1 retarget of a bone
79     def singleBoneRetarget(inter_bone, perf_bone):
80             perf_world_rotation = perf_bone.matrix * performer_obj.matrix_world
81             inter_world_base_rotation = inter_bone.bone.matrix_local * inter_obj.matrix_world
82             inter_world_base_inv = inter_world_base_rotation.inverted()
83             return (inter_world_base_inv.to_3x3() * perf_world_rotation.to_3x3()).to_4x4()
84
85     #uses 1to1 and interpolation/averaging to match many to 1 retarget
86     def manyPerfToSingleInterRetarget(inter_bone, performer_bones_s):
87         retarget_matrices = [singleBoneRetarget(inter_bone, perf_bone) for perf_bone in performer_bones_s]
88         lerp_matrix = Matrix()
89         for i in range(len(retarget_matrices) - 1):
90             first_mat = retarget_matrices[i]
91             next_mat = retarget_matrices[i + 1]
92             lerp_matrix = first_mat.lerp(next_mat, 0.5)
93         return lerp_matrix
94
95     #determines the type of hierachy change needed and calls the
96     #right function
97     def retargetPerfToInter(inter_bone):
98         if inter_bone.bone.reverseMap:
99             perf_bone_name = inter_bone.bone.reverseMap
100                 # 1 to many not supported yet
101                 # then its either a many to 1 or 1 to 1
102             if len(perf_bone_name) > 1:
103                 performer_bones_s = [performer_bones[map.name] for map in perf_bone_name]
104                 #we need to map several performance bone to a single
105                 inter_bone.matrix_basis = manyPerfToSingleInterRetarget(inter_bone, performer_bones_s)
106             else:
107                 perf_bone = performer_bones[perf_bone_name[0].name]
108                 inter_bone.matrix_basis = singleBoneRetarget(inter_bone, perf_bone)
109         inter_bone.keyframe_insert("rotation_quaternion")
110
111     #creates the intermediate armature object
112     inter_obj = enduser_obj.copy()
113     inter_obj.data = inter_obj.data.copy()  # duplicate data
114     bpy.context.scene.objects.link(inter_obj)
115     inter_obj.name = "intermediate"
116     bpy.context.scene.objects.active = inter_obj
117     bpy.ops.object.mode_set(mode='EDIT')
118     #add some temporary connecting bones in case end user bones are not connected to their parents
119     print("creating temp bones")
120     for bone in inter_obj.data.edit_bones:
121         if not bone.use_connect and bone.parent:
122             if inter_obj.data.bones[bone.parent.name].reverseMap or inter_obj.data.bones[bone.name].reverseMap:
123                 newBone = inter_obj.data.edit_bones.new("Temp")
124                 newBone.head = bone.parent.tail
125                 newBone.tail = bone.head
126                 newBone.parent = bone.parent
127                 bone.parent = newBone
128                 bone.use_connect = True
129                 newBone.use_connect = True
130     #resets roll
131     print("retargeting to intermediate")
132     bpy.ops.armature.calculate_roll(type='Z')
133     bpy.ops.object.mode_set(mode="OBJECT")
134     inter_obj.data.name = "inter_arm"
135     inter_arm = inter_obj.data
136     performer_bones = performer_obj.pose.bones
137     inter_bones = inter_obj.pose.bones
138     #clears inheritance
139     for inter_bone in inter_bones:
140         if inter_bone.bone.reverseMap:
141             inter_bone.bone.use_inherit_rotation = False
142         else:
143             inter_bone.bone.use_inherit_rotation = True
144
145     for t in range(s_frame, e_frame):
146         if (t - s_frame) % 10 == 0:
147             print("First pass: retargeting frame {0}/{1}".format(t, e_frame - s_frame))
148         scene.frame_set(t)
149         for bone in inter_bones:
150             retargetPerfToInter(bone)
151
152     return inter_obj
153
154 # this procedure copies the rotations over from the intermediate
155 # armature to the end user one.
156 # As the hierarchies are 1 to 1, this is a simple matter of
157 # copying the rotation, while keeping in mind bone roll, parenting, etc.
158 # TODO: Control Bones: If a certain bone is constrained in a way
159 #       that its rotation is determined by another (a control bone)
160 #       We should determine the right pos of the control bone.
161 #       Scale: ? Should work but needs testing.
162
163
164 def retargetEnduser(inter_obj, enduser_obj, root, s_frame, e_frame, scene):
165     inter_bones = inter_obj.pose.bones
166     end_bones = enduser_obj.pose.bones
167
168     def bakeTransform(end_bone):
169         src_bone = inter_bones[end_bone.name]
170         trg_bone = end_bone
171         bake_matrix = src_bone.matrix
172         rest_matrix = trg_bone.bone.matrix_local
173
174         if trg_bone.parent and trg_bone.bone.use_inherit_rotation:
175             srcParent = src_bone.parent
176             if "Temp" in srcParent.name:
177                 srcParent = srcParent.parent
178             parent_mat = srcParent.matrix
179             parent_rest = trg_bone.parent.bone.matrix_local
180             parent_rest_inv = parent_rest.inverted()
181             parent_mat_inv = parent_mat.inverted()
182             bake_matrix = parent_mat_inv * bake_matrix
183             rest_matrix = parent_rest_inv * rest_matrix
184
185         rest_matrix_inv = rest_matrix.inverted()
186         bake_matrix = rest_matrix_inv * bake_matrix
187         end_bone.matrix_basis = bake_matrix
188         rot_mode = end_bone.rotation_mode
189         if rot_mode == "QUATERNION":
190             end_bone.keyframe_insert("rotation_quaternion")
191         elif rot_mode == "AXIS_ANGLE":
192             end_bone.keyframe_insert("rotation_axis_angle")
193         else:
194             end_bone.keyframe_insert("rotation_euler")
195         if not end_bone.bone.use_connect:
196             end_bone.keyframe_insert("location")
197
198         for bone in end_bone.children:
199             bakeTransform(bone)
200
201     for t in range(s_frame, e_frame):
202         if (t - s_frame) % 10 == 0:
203             print("Second pass: retargeting frame {0}/{1}".format(t, e_frame - s_frame))
204         scene.frame_set(t)
205         end_bone = end_bones[root]
206         end_bone.location = Vector((0, 0, 0))
207         end_bone.keyframe_insert("location")
208         bakeTransform(end_bone)
209
210 #recieves the performer feet bones as a variable
211 # by "feet" I mean those bones that have plants
212 # (they don't move, despite root moving) somewhere in the animation.
213
214
215 def copyTranslation(performer_obj, enduser_obj, perfFeet, root, s_frame, e_frame, scene, enduser_obj_mat):
216
217     perf_bones = performer_obj.pose.bones
218     end_bones = enduser_obj.pose.bones
219
220     perfRoot = perf_bones[0].name
221     endFeet = [perf_bones[perfBone].bone.map for perfBone in perfFeet]
222     locDictKeys = perfFeet + endFeet + [perfRoot]
223
224     def tailLoc(bone):
225         return bone.center + (bone.vector / 2)
226
227     #Step 1 - we create a dict that contains these keys:
228     #(Performer) Hips, Feet
229     #(End user) Feet
230     # where the values are their world position on each frame in range (s,e)
231
232     locDict = {}
233     for key in locDictKeys:
234         locDict[key] = []
235
236     for t in range(scene.frame_start, scene.frame_end):
237         scene.frame_set(t)
238         for bone in perfFeet:
239             locDict[bone].append(tailLoc(perf_bones[bone]))
240         locDict[perfRoot].append(tailLoc(perf_bones[perfRoot]))
241         for bone in endFeet:
242             locDict[bone].append(tailLoc(end_bones[bone]))
243
244     # now we take our locDict and analyze it.
245     # we need to derive all chains
246     
247     def locDeriv(key, t):
248         graph = locDict[key]
249         return graph[t + 1] - graph[t]
250
251     #~ locDeriv = {}
252     #~ for key in locDictKeys:
253         #~ locDeriv[key] = []
254
255     #~ for key in locDict.keys():
256         #~ graph = locDict[key]
257         #~ locDeriv[key] = [graph[t + 1] - graph[t] for t in range(len(graph) - 1)]
258
259     # now find the plant frames, where perfFeet don't move much
260
261     linearAvg = []
262
263     for key in perfFeet:
264         for i in range(len(locDict[key]) - 1):
265             v = locDeriv(key,i)
266             if (v.length < 0.1):
267                 hipV = locDeriv(perfRoot,i)
268                 endV = locDeriv(perf_bones[key].bone.map,i)
269                 #this is a plant frame.
270                 #lets see what the original hip delta is, and the corresponding
271                 #end bone's delta
272                 if endV.length != 0:
273                     linearAvg.append(hipV.length / endV.length)
274
275     action_name = performer_obj.animation_data.action.name
276     #is there a stride_bone?
277     if "stride_bone" in bpy.data.objects:
278         stride_action = bpy.data.actions.new("Stride Bone " + action_name)
279         stride_action.use_fake_user = True
280         stride_bone = enduser_obj.parent
281         stride_bone.animation_data.action = stride_action
282     else:
283         bpy.ops.object.add()
284         stride_bone = bpy.context.active_object
285         stride_bone.name = "stride_bone"
286     print(stride_bone)
287     stride_bone.location = Vector((0, 0, 0))
288     print(linearAvg)
289     if linearAvg:
290         #determine the average change in scale needed
291         avg = sum(linearAvg) / len(linearAvg)
292         scene.frame_set(s_frame)
293         initialPos = (tailLoc(perf_bones[perfRoot]) / avg) + stride_bone.location
294         for t in range(s_frame, e_frame):
295             scene.frame_set(t)
296             #calculate the new position, by dividing by the found ratio between performer and enduser
297             newTranslation = (tailLoc(perf_bones[perfRoot]) / avg)
298             stride_bone.location = enduser_obj_mat * (newTranslation - initialPos)
299             stride_bone.keyframe_insert("location")
300     else:
301         stride_bone.keyframe_insert("location")
302     stride_bone.animation_data.action.name = ("Stride Bone " + action_name)
303
304     return stride_bone
305
306
307 def IKRetarget(performer_obj, enduser_obj, s_frame, e_frame, scene):
308     end_bones = enduser_obj.pose.bones
309     for pose_bone in end_bones:
310         ik_constraint = hasIKConstraint(pose_bone)
311         if ik_constraint:
312             target_is_bone = False
313             # set constraint target to corresponding empty if targetless,
314             # if not, keyframe current target to corresponding empty
315             perf_bone = pose_bone.bone.reverseMap[-1].name
316             orgLocTrg = originalLocationTarget(pose_bone, enduser_obj)
317             if not ik_constraint.target:
318                 ik_constraint.target = orgLocTrg
319                 target = orgLocTrg
320
321             # There is a target now
322             if ik_constraint.subtarget:
323                 target = ik_constraint.target.pose.bones[ik_constraint.subtarget]
324                 target.bone.use_local_location = False
325                 target_is_bone = True
326             else:
327                 target = ik_constraint.target
328
329             # bake the correct locations for the ik target bones
330             for t in range(s_frame, e_frame):
331                 scene.frame_set(t)
332                 if target_is_bone:
333                     final_loc = pose_bone.tail - target.bone.matrix_local.to_translation()
334                 else:
335                     final_loc = pose_bone.tail
336                 target.location = final_loc
337                 target.keyframe_insert("location")
338             ik_constraint.mute = False
339     scene.frame_set(s_frame)
340
341
342 def turnOffIK(enduser_obj):
343     end_bones = enduser_obj.pose.bones
344     for pose_bone in end_bones:
345         if pose_bone.is_in_ik_chain:
346             pass
347             # TODO:
348             # set stiffness according to place on chain
349             # and values from analysis that is stored in the bone
350             #pose_bone.ik_stiffness_x = 0.5
351             #pose_bone.ik_stiffness_y = 0.5
352             #pose_bone.ik_stiffness_z = 0.5
353         ik_constraint = hasIKConstraint(pose_bone)
354         if ik_constraint:
355             ik_constraint.mute = True
356
357
358 #copy the object matrixes and clear them (to be reinserted later)
359 def cleanAndStoreObjMat(performer_obj, enduser_obj):
360     perf_obj_mat = performer_obj.matrix_world.copy()
361     enduser_obj_mat = enduser_obj.matrix_world.copy()
362     zero_mat = Matrix()
363     performer_obj.matrix_world = zero_mat
364     enduser_obj.matrix_world = zero_mat
365     return perf_obj_mat, enduser_obj_mat
366
367
368 #restore the object matrixes after parenting the auto generated IK empties
369 def restoreObjMat(performer_obj, enduser_obj, perf_obj_mat, enduser_obj_mat, stride_bone):
370     pose_bones = enduser_obj.pose.bones
371     for pose_bone in pose_bones:
372         if pose_bone.name + "Org" in bpy.data.objects:
373             empty = bpy.data.objects[pose_bone.name + "Org"]
374             empty.parent = stride_bone
375     performer_obj.matrix_world = perf_obj_mat
376     enduser_obj.parent = stride_bone
377     enduser_obj.matrix_world = enduser_obj_mat
378
379
380 #create (or return if exists) the related IK empty to the bone
381 def originalLocationTarget(end_bone, enduser_obj):
382     if not end_bone.name + "Org" in bpy.data.objects:
383         bpy.ops.object.add()
384         empty = bpy.context.active_object
385         empty.name = end_bone.name + "Org"
386         empty.empty_draw_size = 0.1
387         empty.parent = enduser_obj
388     empty = bpy.data.objects[end_bone.name + "Org"]
389     return empty
390
391
392 #create the specified NLA setup for base animation, constraints and tweak layer.
393 def NLASystemInitialize(enduser_arm, context):#enduser_obj, name):
394     enduser_obj = context.active_object
395     NLATracks = enduser_arm.mocapNLATracks[enduser_obj.data.active_mocap]
396     name = NLATracks.name
397     anim_data = enduser_obj.animation_data
398     s_frame = 0
399     print(name)
400     if ("Base " + name) in bpy.data.actions:
401         mocapAction = bpy.data.actions[("Base " + name)]
402     else:
403         print("That retargeted anim has no base action")
404     anim_data.use_nla = True
405     for track in anim_data.nla_tracks:
406         anim_data.nla_tracks.remove(track)
407     mocapTrack = anim_data.nla_tracks.new()
408     mocapTrack.name = "Base " + name
409     NLATracks.base_track = mocapTrack.name
410     mocapStrip = mocapTrack.strips.new("Base " + name, s_frame, mocapAction)
411     constraintTrack = anim_data.nla_tracks.new()
412     constraintTrack.name = "Auto fixes " + name
413     NLATracks.auto_fix_track = constraintTrack.name
414     if ("Auto fixes " + name) in bpy.data.actions:
415         constraintAction = bpy.data.actions[("Auto fixes " + name)]
416     else:
417         constraintAction = bpy.data.actions.new("Auto fixes " + name)
418         constraintAction.use_fake_user = True
419     constraintStrip = constraintTrack.strips.new("Auto fixes " + name, s_frame, constraintAction)
420     constraintStrip.extrapolation = "NOTHING"
421     userTrack = anim_data.nla_tracks.new()
422     userTrack.name = "Manual fixes " + name
423     NLATracks.manual_fix_track = userTrack.name
424     if ("Manual fixes " + name) in bpy.data.actions:
425         userAction = bpy.data.actions[("Manual fixes " + name)]
426     else:
427         userAction = bpy.data.actions.new("Manual fixes " + name)
428         userAction.use_fake_user = True
429     userStrip = userTrack.strips.new("Manual fixes " + name, s_frame, userAction)
430     userStrip.extrapolation = "HOLD"
431     #userStrip.blend_type = "MULITPLY" - doesn't work due to work, will be activated soon
432     anim_data.nla_tracks.active = constraintTrack
433     #anim_data.action = constraintAction
434     anim_data.action_extrapolation = "NOTHING"
435     #set the stride_bone's action
436     if "stride_bone" in bpy.data.objects:
437         stride_bone = bpy.data.objects["stride_bone"]
438         if NLATracks.stride_action:
439             stride_bone.animation_data.action = bpy.data.actions[NLATracks.stride_action]
440         else:
441             NLATracks.stride_action = stride_bone.animation_data.action.name
442             stride_bone.animation_data.action.use_fake_user = True
443     anim_data.action = None
444
445
446 def preAdvancedRetargeting(performer_obj, enduser_obj):
447     createDictionary(performer_obj.data, enduser_obj.data)
448     bones = enduser_obj.pose.bones
449     map_bones = [bone for bone in bones if bone.bone.reverseMap]
450     for bone in map_bones:
451         perf_bone = bone.bone.reverseMap[0].name
452         addLocalRot = False;
453         if bone.bone.use_connect or not bone.constraints:
454             locks = bone.lock_location
455             if not (locks[0] or locks[1] or locks[2]):  
456                 cons = bone.constraints.new('COPY_LOCATION')
457                 cons.name = "retargetTemp"
458                 cons.use_x = not locks[0]
459                 cons.use_y = not locks[1]
460                 cons.use_z = not locks[2]
461                 cons.target = performer_obj
462                 cons.subtarget = perf_bone
463                 addLocalRot = True
464
465        
466         cons2 = bone.constraints.new('COPY_ROTATION')
467         cons2.name = "retargetTemp"
468         locks = bone.lock_rotation
469         cons2.use_x = not locks[0]
470         cons2.use_y = not locks[1]
471         cons2.use_z = not locks[2]
472         cons2.target = performer_obj
473         cons2.subtarget = perf_bone
474
475         if addLocalRot:
476             for constraint in bone.constraints:
477                 if constraint.type == 'COPY_ROTATION':
478                     constraint.target_space = 'LOCAL'
479                     constraint.owner_space = 'LOCAL_WITH_PARENT'
480
481
482 def prepareForBake(enduser_obj):
483     bones = enduser_obj.pose.bones
484     for bone in bones:
485         bone.bone.select = False
486     map_bones = [bone for bone in bones if bone.bone.reverseMap]
487     for bone in map_bones:
488         for cons in bone.constraints:
489             if "retargetTemp" in cons.name:
490                 bone.bone.select = True
491
492 def cleanTempConstraints(enduser_obj):
493     bones = enduser_obj.pose.bones
494     map_bones = [bone for bone in bones if bone.bone.reverseMap]
495     for bone in map_bones:
496         for cons in bone.constraints:
497             if "retargetTemp" in cons.name:
498                 bone.constraints.remove(cons)
499
500 #Main function that runs the retargeting sequence.
501 #If advanced == True, we assume constraint's were already created
502 def totalRetarget(performer_obj, enduser_obj, scene, s_frame, e_frame):
503     perf_arm = performer_obj.data
504     end_arm = enduser_obj.data
505     advanced = end_arm.advancedRetarget
506     
507     try:
508         enduser_obj.animation_data.action = bpy.data.actions.new("temp")
509         enduser_obj.animation_data.action.use_fake_user = True
510     except:
511         print("no need to create new action")
512     
513     print("creating Dictionary")
514     feetBones, root = createDictionary(perf_arm, end_arm)
515     print("cleaning stuff up")
516     perf_obj_mat, enduser_obj_mat = cleanAndStoreObjMat(performer_obj, enduser_obj)
517     if not advanced:
518         turnOffIK(enduser_obj)
519         print("Creating intermediate armature (for first pass)")
520         inter_obj = createIntermediate(performer_obj, enduser_obj, root, s_frame, e_frame, scene)
521         print("First pass: retargeting from intermediate to end user")
522         retargetEnduser(inter_obj, enduser_obj, root, s_frame, e_frame, scene)
523     else:
524         prepareForBake(enduser_obj)
525         print("Retargeting pose (Advanced Retarget)")
526         nla.bake(s_frame, e_frame, action=enduser_obj.animation_data.action, only_selected=True, do_pose=True, do_object=False)
527     name = performer_obj.animation_data.action.name
528     enduser_obj.animation_data.action.name = "Base " + name
529     print("Second pass: retargeting root translation and clean up")
530     stride_bone = copyTranslation(performer_obj, enduser_obj, feetBones, root, s_frame, e_frame, scene, enduser_obj_mat)
531     if not advanced:
532         IKRetarget(performer_obj, enduser_obj, s_frame, e_frame, scene)
533     restoreObjMat(performer_obj, enduser_obj, perf_obj_mat, enduser_obj_mat, stride_bone)
534     bpy.ops.object.mode_set(mode='OBJECT')
535     if not advanced:
536         bpy.ops.object.select_name(name=inter_obj.name, extend=False)
537         bpy.ops.object.delete()
538     else:
539         cleanTempConstraints(enduser_obj)
540     bpy.ops.object.select_name(name=enduser_obj.name, extend=False)
541
542     if not name in [tracks.name for tracks in end_arm.mocapNLATracks]:
543         NLATracks = end_arm.mocapNLATracks.add()
544         NLATracks.name = name
545     else:
546         NLATracks = end_arm.mocapNLATracks[name]
547     end_arm.active_mocap = name
548     print("retargeting done!")
549     
550 def profileWrapper():
551     context = bpy.context
552     scene = context.scene
553     s_frame = scene.frame_start
554     e_frame = scene.frame_end
555     enduser_obj = context.active_object
556     performer_obj = [obj for obj in context.selected_objects if obj != enduser_obj]
557     if enduser_obj is None or len(performer_obj) != 1:
558         print("Need active and selected armatures")
559     else:
560         performer_obj = performer_obj[0]
561         s_frame, e_frame = performer_obj.animation_data.action.frame_range
562         s_frame = int(s_frame)
563         e_frame = int(e_frame)
564         totalRetarget(performer_obj, enduser_obj, scene, s_frame, e_frame)
565
566 if __name__ == "__main__":
567     cProfile.run("profileWrapper()")