Reorganize collada code a bit
This commit is contained in:
Salad Dais
@@ -15,7 +15,7 @@ import logging
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import os.path
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import secrets
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import sys
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from typing import Dict, List, Optional, Union, Sequence
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from typing import Dict, Optional
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import collada
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import collada.source
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@@ -27,20 +27,18 @@ import transformations
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from hippolyzer.lib.base.datatypes import Vector3
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from hippolyzer.lib.base.helpers import get_resource_filename
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from hippolyzer.lib.base.serialization import BufferReader
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from hippolyzer.lib.base.mesh import LLMeshSerializer, MeshAsset, positions_from_domain, SkinSegmentDict
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from hippolyzer.lib.base.mesh import (
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LLMeshSerializer,
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MeshAsset,
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positions_from_domain,
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SkinSegmentDict,
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llsd_to_mat4,
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)
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LOG = logging.getLogger(__name__)
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DIR = os.path.dirname(os.path.realpath(__file__))
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def llsd_to_mat4(mat: Union[np.ndarray, Sequence[float]]) -> np.ndarray:
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return np.array(mat).reshape((4, 4), order='F')
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def mat4_to_llsd(mat: np.ndarray) -> List[float]:
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return list(mat.flatten(order='F'))
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def mat4_to_collada(mat: np.ndarray) -> np.ndarray:
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return mat.flatten(order='C')
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0
hippolyzer/lib/base/gltftools.py
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0
hippolyzer/lib/base/gltftools.py
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@@ -11,6 +11,7 @@ from typing import *
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import zlib
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from copy import deepcopy
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import numpy as np
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import recordclass
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from hippolyzer.lib.base import serialization as se
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@@ -20,6 +21,14 @@ from hippolyzer.lib.base.llsd import zip_llsd, unzip_llsd
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LOG = logging.getLogger(__name__)
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def llsd_to_mat4(mat: Union[np.ndarray, Sequence[float]]) -> np.ndarray:
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return np.array(mat).reshape((4, 4), order='F')
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def mat4_to_llsd(mat: np.ndarray) -> List[float]:
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return list(mat.flatten(order='F'))
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@dataclasses.dataclass
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class MeshAsset:
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header: MeshHeaderDict = dataclasses.field(default_factory=dict)
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212
hippolyzer/lib/base/mesh_skeleton.py
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212
hippolyzer/lib/base/mesh_skeleton.py
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@@ -0,0 +1,212 @@
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from typing import *
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from hippolyzer.lib.base.datatypes import Vector3
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class JointNode(NamedTuple):
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parent: Optional[str]
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translation: Vector3
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# Joint translation data resolved from the male collada file
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# TODO: Get this from avatar_skeleton.xml instead? We may need other transforms.
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SKELETON_JOINTS = {
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'mPelvis': JointNode(parent=None, translation=Vector3(0.0, 0.0, 1.067)),
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'PELVIS': JointNode(parent='mPelvis', translation=Vector3(-0.01, 0.0, -0.02)),
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'BUTT': JointNode(parent='mPelvis', translation=Vector3(-0.06, 0.0, -0.1)),
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'mSpine1': JointNode(parent='mPelvis', translation=Vector3(0.0, 0.0, 0.084)),
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'mSpine2': JointNode(parent='mSpine1', translation=Vector3(0.0, 0.0, -0.084)),
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'mTorso': JointNode(parent='mSpine2', translation=Vector3(0.0, 0.0, 0.084)),
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'BELLY': JointNode(parent='mTorso', translation=Vector3(0.028, 0.0, 0.04)),
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'LEFT_HANDLE': JointNode(parent='mTorso', translation=Vector3(0.0, 0.1, 0.058)),
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'RIGHT_HANDLE': JointNode(parent='mTorso', translation=Vector3(0.0, -0.1, 0.058)),
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'LOWER_BACK': JointNode(parent='mTorso', translation=Vector3(0.0, 0.0, 0.023)),
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'mSpine3': JointNode(parent='mTorso', translation=Vector3(-0.015, 0.0, 0.205)),
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'mSpine4': JointNode(parent='mSpine3', translation=Vector3(0.015, 0.0, -0.205)),
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'mChest': JointNode(parent='mSpine4', translation=Vector3(-0.015, 0.0, 0.205)),
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'CHEST': JointNode(parent='mChest', translation=Vector3(0.028, 0.0, 0.07)),
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'LEFT_PEC': JointNode(parent='mChest', translation=Vector3(0.119, 0.082, 0.042)),
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'RIGHT_PEC': JointNode(parent='mChest', translation=Vector3(0.119, -0.082, 0.042)),
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'UPPER_BACK': JointNode(parent='mChest', translation=Vector3(0.0, 0.0, 0.017)),
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'mNeck': JointNode(parent='mChest', translation=Vector3(-0.01, 0.0, 0.251)),
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'NECK': JointNode(parent='mNeck', translation=Vector3(0.0, 0.0, 0.02)),
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'mHead': JointNode(parent='mNeck', translation=Vector3(0.0, 0.0, 0.076)),
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'HEAD': JointNode(parent='mHead', translation=Vector3(0.02, 0.0, 0.07)),
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'mSkull': JointNode(parent='mHead', translation=Vector3(0.0, 0.0, 0.079)),
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'mEyeRight': JointNode(parent='mHead', translation=Vector3(0.098, -0.036, 0.079)),
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'mEyeLeft': JointNode(parent='mHead', translation=Vector3(0.098, 0.036, 0.079)),
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'mFaceRoot': JointNode(parent='mHead', translation=Vector3(0.025, 0.0, 0.045)),
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'mFaceEyeAltRight': JointNode(parent='mFaceRoot', translation=Vector3(0.073, -0.036, 0.034)),
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'mFaceEyeAltLeft': JointNode(parent='mFaceRoot', translation=Vector3(0.073, 0.036, 0.034)),
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'mFaceForeheadLeft': JointNode(parent='mFaceRoot', translation=Vector3(0.061, 0.035, 0.083)),
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'mFaceForeheadRight': JointNode(parent='mFaceRoot', translation=Vector3(0.061, -0.035, 0.083)),
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'mFaceEyebrowOuterLeft': JointNode(parent='mFaceRoot', translation=Vector3(0.064, 0.051, 0.048)),
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'mFaceEyebrowCenterLeft': JointNode(parent='mFaceRoot', translation=Vector3(0.07, 0.043, 0.056)),
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'mFaceEyebrowInnerLeft': JointNode(parent='mFaceRoot', translation=Vector3(0.075, 0.022, 0.051)),
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'mFaceEyebrowOuterRight': JointNode(parent='mFaceRoot', translation=Vector3(0.064, -0.051, 0.048)),
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'mFaceEyebrowCenterRight': JointNode(parent='mFaceRoot', translation=Vector3(0.07, -0.043, 0.056)),
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'mFaceEyebrowInnerRight': JointNode(parent='mFaceRoot', translation=Vector3(0.075, -0.022, 0.051)),
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'mFaceEyeLidUpperLeft': JointNode(parent='mFaceRoot', translation=Vector3(0.073, 0.036, 0.034)),
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'mFaceEyeLidLowerLeft': JointNode(parent='mFaceRoot', translation=Vector3(0.073, 0.036, 0.034)),
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'mFaceEyeLidUpperRight': JointNode(parent='mFaceRoot', translation=Vector3(0.073, -0.036, 0.034)),
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'mFaceEyeLidLowerRight': JointNode(parent='mFaceRoot', translation=Vector3(0.073, -0.036, 0.034)),
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'mFaceEar1Left': JointNode(parent='mFaceRoot', translation=Vector3(0.0, 0.08, 0.002)),
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'mFaceEar2Left': JointNode(parent='mFaceEar1Left', translation=Vector3(-0.019, 0.018, 0.025)),
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'mFaceEar1Right': JointNode(parent='mFaceRoot', translation=Vector3(0.0, -0.08, 0.002)),
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'mFaceEar2Right': JointNode(parent='mFaceEar1Right', translation=Vector3(-0.019, -0.018, 0.025)),
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'mFaceNoseLeft': JointNode(parent='mFaceRoot', translation=Vector3(0.086, 0.015, -0.004)),
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'mFaceNoseCenter': JointNode(parent='mFaceRoot', translation=Vector3(0.102, 0.0, 0.0)),
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'mFaceNoseRight': JointNode(parent='mFaceRoot', translation=Vector3(0.086, -0.015, -0.004)),
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'mFaceCheekLowerLeft': JointNode(parent='mFaceRoot', translation=Vector3(0.05, 0.034, -0.031)),
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'mFaceCheekUpperLeft': JointNode(parent='mFaceRoot', translation=Vector3(0.07, 0.034, -0.005)),
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'mFaceCheekLowerRight': JointNode(parent='mFaceRoot', translation=Vector3(0.05, -0.034, -0.031)),
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'mFaceCheekUpperRight': JointNode(parent='mFaceRoot', translation=Vector3(0.07, -0.034, -0.005)),
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'mFaceJaw': JointNode(parent='mFaceRoot', translation=Vector3(-0.001, 0.0, -0.015)),
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'mFaceChin': JointNode(parent='mFaceJaw', translation=Vector3(0.074, 0.0, -0.054)),
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'mFaceTeethLower': JointNode(parent='mFaceJaw', translation=Vector3(0.021, 0.0, -0.039)),
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'mFaceLipLowerLeft': JointNode(parent='mFaceTeethLower', translation=Vector3(0.045, 0.0, 0.0)),
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'mFaceLipLowerRight': JointNode(parent='mFaceTeethLower', translation=Vector3(0.045, 0.0, 0.0)),
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'mFaceLipLowerCenter': JointNode(parent='mFaceTeethLower', translation=Vector3(0.045, 0.0, 0.0)),
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'mFaceTongueBase': JointNode(parent='mFaceTeethLower', translation=Vector3(0.039, 0.0, 0.005)),
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'mFaceTongueTip': JointNode(parent='mFaceTongueBase', translation=Vector3(0.022, 0.0, 0.007)),
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'mFaceJawShaper': JointNode(parent='mFaceRoot', translation=Vector3(0.0, 0.0, 0.0)),
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'mFaceForeheadCenter': JointNode(parent='mFaceRoot', translation=Vector3(0.069, 0.0, 0.065)),
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'mFaceNoseBase': JointNode(parent='mFaceRoot', translation=Vector3(0.094, 0.0, -0.016)),
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'mFaceTeethUpper': JointNode(parent='mFaceRoot', translation=Vector3(0.02, 0.0, -0.03)),
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'mFaceLipUpperLeft': JointNode(parent='mFaceTeethUpper', translation=Vector3(0.045, 0.0, -0.003)),
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'mFaceLipUpperRight': JointNode(parent='mFaceTeethUpper', translation=Vector3(0.045, 0.0, -0.003)),
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'mFaceLipCornerLeft': JointNode(parent='mFaceTeethUpper', translation=Vector3(0.028, -0.019, -0.01)),
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'mFaceLipCornerRight': JointNode(parent='mFaceTeethUpper', translation=Vector3(0.028, 0.019, -0.01)),
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'mFaceLipUpperCenter': JointNode(parent='mFaceTeethUpper', translation=Vector3(0.045, 0.0, -0.003)),
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'mFaceEyecornerInnerLeft': JointNode(parent='mFaceRoot', translation=Vector3(0.075, 0.017, 0.032)),
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'mFaceEyecornerInnerRight': JointNode(parent='mFaceRoot', translation=Vector3(0.075, -0.017, 0.032)),
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'mFaceNoseBridge': JointNode(parent='mFaceRoot', translation=Vector3(0.091, 0.0, 0.02)),
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'mCollarLeft': JointNode(parent='mChest', translation=Vector3(-0.021, 0.085, 0.165)),
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'L_CLAVICLE': JointNode(parent='mCollarLeft', translation=Vector3(0.02, 0.0, 0.02)),
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'mShoulderLeft': JointNode(parent='mCollarLeft', translation=Vector3(0.0, 0.079, 0.0)),
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'L_UPPER_ARM': JointNode(parent='mShoulderLeft', translation=Vector3(0.0, 0.12, 0.01)),
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'mElbowLeft': JointNode(parent='mShoulderLeft', translation=Vector3(0.0, 0.248, 0.0)),
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'L_LOWER_ARM': JointNode(parent='mElbowLeft', translation=Vector3(0.0, 0.1, 0.0)),
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'mWristLeft': JointNode(parent='mElbowLeft', translation=Vector3(0.0, 0.205, 0.0)),
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'L_HAND': JointNode(parent='mWristLeft', translation=Vector3(0.01, 0.05, 0.0)),
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'mHandMiddle1Left': JointNode(parent='mWristLeft', translation=Vector3(0.013, 0.101, 0.015)),
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'mHandMiddle2Left': JointNode(parent='mHandMiddle1Left', translation=Vector3(-0.001, 0.04, -0.006)),
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'mHandMiddle3Left': JointNode(parent='mHandMiddle2Left', translation=Vector3(-0.001, 0.049, -0.008)),
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'mHandIndex1Left': JointNode(parent='mWristLeft', translation=Vector3(0.038, 0.097, 0.015)),
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'mHandIndex2Left': JointNode(parent='mHandIndex1Left', translation=Vector3(0.017, 0.036, -0.006)),
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'mHandIndex3Left': JointNode(parent='mHandIndex2Left', translation=Vector3(0.014, 0.032, -0.006)),
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'mHandRing1Left': JointNode(parent='mWristLeft', translation=Vector3(-0.01, 0.099, 0.009)),
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'mHandRing2Left': JointNode(parent='mHandRing1Left', translation=Vector3(-0.013, 0.038, -0.008)),
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'mHandRing3Left': JointNode(parent='mHandRing2Left', translation=Vector3(-0.013, 0.04, -0.009)),
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'mHandPinky1Left': JointNode(parent='mWristLeft', translation=Vector3(-0.031, 0.095, 0.003)),
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'mHandPinky2Left': JointNode(parent='mHandPinky1Left', translation=Vector3(-0.024, 0.025, -0.006)),
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'mHandPinky3Left': JointNode(parent='mHandPinky2Left', translation=Vector3(-0.015, 0.018, -0.004)),
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'mHandThumb1Left': JointNode(parent='mWristLeft', translation=Vector3(0.031, 0.026, 0.004)),
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'mHandThumb2Left': JointNode(parent='mHandThumb1Left', translation=Vector3(0.028, 0.032, -0.001)),
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'mHandThumb3Left': JointNode(parent='mHandThumb2Left', translation=Vector3(0.023, 0.031, -0.001)),
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'mCollarRight': JointNode(parent='mChest', translation=Vector3(-0.021, -0.085, 0.165)),
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'R_CLAVICLE': JointNode(parent='mCollarRight', translation=Vector3(0.02, 0.0, 0.02)),
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'mShoulderRight': JointNode(parent='mCollarRight', translation=Vector3(0.0, -0.079, 0.0)),
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'R_UPPER_ARM': JointNode(parent='mShoulderRight', translation=Vector3(0.0, -0.12, 0.01)),
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'mElbowRight': JointNode(parent='mShoulderRight', translation=Vector3(0.0, -0.248, 0.0)),
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'R_LOWER_ARM': JointNode(parent='mElbowRight', translation=Vector3(0.0, -0.1, 0.0)),
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'mWristRight': JointNode(parent='mElbowRight', translation=Vector3(0.0, -0.205, 0.0)),
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'R_HAND': JointNode(parent='mWristRight', translation=Vector3(0.01, -0.05, 0.0)),
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'mHandMiddle1Right': JointNode(parent='mWristRight', translation=Vector3(0.013, -0.101, 0.015)),
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'mHandMiddle2Right': JointNode(parent='mHandMiddle1Right', translation=Vector3(-0.001, -0.04, -0.006)),
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'mHandMiddle3Right': JointNode(parent='mHandMiddle2Right', translation=Vector3(-0.001, -0.049, -0.008)),
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'mHandIndex1Right': JointNode(parent='mWristRight', translation=Vector3(0.038, -0.097, 0.015)),
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'mHandIndex2Right': JointNode(parent='mHandIndex1Right', translation=Vector3(0.017, -0.036, -0.006)),
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'mHandIndex3Right': JointNode(parent='mHandIndex2Right', translation=Vector3(0.014, -0.032, -0.006)),
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'mHandRing1Right': JointNode(parent='mWristRight', translation=Vector3(-0.01, -0.099, 0.009)),
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'mHandRing2Right': JointNode(parent='mHandRing1Right', translation=Vector3(-0.013, -0.038, -0.008)),
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'mHandRing3Right': JointNode(parent='mHandRing2Right', translation=Vector3(-0.013, -0.04, -0.009)),
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'mHandPinky1Right': JointNode(parent='mWristRight', translation=Vector3(-0.031, -0.095, 0.003)),
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'mHandPinky2Right': JointNode(parent='mHandPinky1Right', translation=Vector3(-0.024, -0.025, -0.006)),
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'mHandPinky3Right': JointNode(parent='mHandPinky2Right', translation=Vector3(-0.015, -0.018, -0.004)),
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'mHandThumb1Right': JointNode(parent='mWristRight', translation=Vector3(0.031, -0.026, 0.004)),
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'mHandThumb2Right': JointNode(parent='mHandThumb1Right', translation=Vector3(0.028, -0.032, -0.001)),
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'mHandThumb3Right': JointNode(parent='mHandThumb2Right', translation=Vector3(0.023, -0.031, -0.001)),
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'mWingsRoot': JointNode(parent='mChest', translation=Vector3(-0.014, 0.0, 0.0)),
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'mWing1Left': JointNode(parent='mWingsRoot', translation=Vector3(-0.099, 0.105, 0.181)),
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'mWing2Left': JointNode(parent='mWing1Left', translation=Vector3(-0.168, 0.169, 0.067)),
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'mWing3Left': JointNode(parent='mWing2Left', translation=Vector3(-0.181, 0.183, 0.0)),
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'mWing4Left': JointNode(parent='mWing3Left', translation=Vector3(-0.171, 0.173, 0.0)),
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'mWing4FanLeft': JointNode(parent='mWing3Left', translation=Vector3(-0.171, 0.173, 0.0)),
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'mWing1Right': JointNode(parent='mWingsRoot', translation=Vector3(-0.099, -0.105, 0.181)),
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'mWing2Right': JointNode(parent='mWing1Right', translation=Vector3(-0.168, -0.169, 0.067)),
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'mWing3Right': JointNode(parent='mWing2Right', translation=Vector3(-0.181, -0.183, 0.0)),
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'mWing4Right': JointNode(parent='mWing3Right', translation=Vector3(-0.171, -0.173, 0.0)),
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'mWing4FanRight': JointNode(parent='mWing3Right', translation=Vector3(-0.171, -0.173, 0.0)),
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'mHipRight': JointNode(parent='mPelvis', translation=Vector3(0.034, -0.129, -0.041)),
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'R_UPPER_LEG': JointNode(parent='mHipRight', translation=Vector3(-0.02, 0.05, -0.22)),
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'mKneeRight': JointNode(parent='mHipRight', translation=Vector3(-0.001, 0.049, -0.491)),
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'R_LOWER_LEG': JointNode(parent='mKneeRight', translation=Vector3(-0.02, 0.0, -0.2)),
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'mAnkleRight': JointNode(parent='mKneeRight', translation=Vector3(-0.029, 0.0, -0.468)),
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'R_FOOT': JointNode(parent='mAnkleRight', translation=Vector3(0.077, 0.0, -0.041)),
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'mFootRight': JointNode(parent='mAnkleRight', translation=Vector3(0.112, 0.0, -0.061)),
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'mToeRight': JointNode(parent='mFootRight', translation=Vector3(0.109, 0.0, 0.0)),
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'mHipLeft': JointNode(parent='mPelvis', translation=Vector3(0.034, 0.127, -0.041)),
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'L_UPPER_LEG': JointNode(parent='mHipLeft', translation=Vector3(-0.02, -0.05, -0.22)),
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'mKneeLeft': JointNode(parent='mHipLeft', translation=Vector3(-0.001, -0.046, -0.491)),
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'L_LOWER_LEG': JointNode(parent='mKneeLeft', translation=Vector3(-0.02, 0.0, -0.2)),
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'mAnkleLeft': JointNode(parent='mKneeLeft', translation=Vector3(-0.029, 0.001, -0.468)),
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'L_FOOT': JointNode(parent='mAnkleLeft', translation=Vector3(0.077, 0.0, -0.041)),
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'mFootLeft': JointNode(parent='mAnkleLeft', translation=Vector3(0.112, 0.0, -0.061)),
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'mToeLeft': JointNode(parent='mFootLeft', translation=Vector3(0.109, 0.0, 0.0)),
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'mTail1': JointNode(parent='mPelvis', translation=Vector3(-0.116, 0.0, 0.047)),
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'mTail2': JointNode(parent='mTail1', translation=Vector3(-0.197, 0.0, 0.0)),
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'mTail3': JointNode(parent='mTail2', translation=Vector3(-0.168, 0.0, 0.0)),
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'mTail4': JointNode(parent='mTail3', translation=Vector3(-0.142, 0.0, 0.0)),
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'mTail5': JointNode(parent='mTail4', translation=Vector3(-0.112, 0.0, 0.0)),
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'mTail6': JointNode(parent='mTail5', translation=Vector3(-0.094, 0.0, 0.0)),
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'mGroin': JointNode(parent='mPelvis', translation=Vector3(0.064, 0.0, -0.097)),
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'mHindLimbsRoot': JointNode(parent='mPelvis', translation=Vector3(-0.2, 0.0, 0.084)),
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'mHindLimb1Left': JointNode(parent='mHindLimbsRoot', translation=Vector3(-0.204, 0.129, -0.125)),
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'mHindLimb2Left': JointNode(parent='mHindLimb1Left', translation=Vector3(0.002, -0.046, -0.491)),
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'mHindLimb3Left': JointNode(parent='mHindLimb2Left', translation=Vector3(-0.03, -0.003, -0.468)),
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'mHindLimb4Left': JointNode(parent='mHindLimb3Left', translation=Vector3(0.112, 0.0, -0.061)),
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'mHindLimb1Right': JointNode(parent='mHindLimbsRoot', translation=Vector3(-0.204, -0.129, -0.125)),
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'mHindLimb2Right': JointNode(parent='mHindLimb1Right', translation=Vector3(0.002, 0.046, -0.491)),
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'mHindLimb3Right': JointNode(parent='mHindLimb2Right', translation=Vector3(-0.03, 0.003, -0.468)),
|
||||
'mHindLimb4Right': JointNode(parent='mHindLimb3Right', translation=Vector3(0.112, 0.0, -0.061)),
|
||||
}
|
||||
|
||||
|
||||
def required_joint_hierarchy(joint_names: Collection[str]) -> Set[str]:
|
||||
"""Get all joints required to have a chain from all joints up to the root joint"""
|
||||
required = set(joint_names)
|
||||
for joint_name in joint_names:
|
||||
while parent_node := SKELETON_JOINTS.get(joint_name):
|
||||
required.add(joint_name)
|
||||
joint_name = parent_node.parent
|
||||
return required
|
||||
|
||||
|
||||
# def load_skeleton_nodes() -> etree.ElementBase:
|
||||
# # TODO: this sucks. Can't we construct nodes with the appropriate transformation
|
||||
# # matrices from the data in `avatar_skeleton.xml`?
|
||||
# skel_path = get_resource_filename("lib/base/data/male_collada_joints.xml")
|
||||
# with open(skel_path, 'r') as f:
|
||||
# return etree.fromstring(f.read())
|
||||
#
|
||||
#
|
||||
# def print_skeleton():
|
||||
# import pprint
|
||||
# skel_root = load_skeleton_nodes()
|
||||
#
|
||||
# dae = collada.Collada()
|
||||
# joints = {}
|
||||
# for skel_node in skel_root.iter():
|
||||
# # xpath is loathsome so this is easier.
|
||||
# if "node" not in skel_node.tag or skel_node.get('type') != 'JOINT':
|
||||
# continue
|
||||
# col_node = collada.scene.Node.load(dae, skel_node, {})
|
||||
#
|
||||
# par_node = skel_node.getparent()
|
||||
# parent_name = None
|
||||
# if par_node and par_node.get('name'):
|
||||
# parent_name = par_node.get('name')
|
||||
# translation = Vector3(*transformations.translation_from_matrix(col_node.matrix))
|
||||
# joints[col_node.id] = JointNode(parent=parent_name, translation=translation)
|
||||
# pprint.pprint(joints, sort_dicts=False)
|
||||
Reference in New Issue
Block a user