Add tools for mirroring animations

hippolyzer/lib/base/anim_utils.py

@@ -3,10 +3,12 @@ Assorted utilities to make creating animations from scratch easier
 """
 
 import copy
-from typing import List, Union
+from typing import List, Union, Mapping
 
 from hippolyzer.lib.base.datatypes import Vector3, Quaternion
-from hippolyzer.lib.base.llanim import PosKeyframe, RotKeyframe
+from hippolyzer.lib.base.llanim import PosKeyframe, RotKeyframe, JOINTS_DICT, Joint
+from hippolyzer.lib.base.mesh_skeleton import AVATAR_SKELETON
+from hippolyzer.lib.base.multidict import OrderedMultiDict
 
 
 def smooth_step(t: float):
@@ -89,3 +91,35 @@ def smooth_rot(start: Quaternion, end: Quaternion, inter_frames: int, time: floa
         smooth_t = smooth_step(t)
         frames.append(RotKeyframe(time=time + (t * duration), rot=rot_interp(start, end, smooth_t)))
     return frames + [RotKeyframe(time=time + duration, rot=end)]
+
+
+def mirror_joints(joints_dict: Mapping[str, Joint]) -> JOINTS_DICT:
+    """Mirror a joints dict so left / right are swapped, including transformations"""
+    new_joints: JOINTS_DICT = OrderedMultiDict()
+
+    for joint_name, joint in joints_dict.items():
+        inverse_joint_node = AVATAR_SKELETON[joint_name].inverse
+        if not inverse_joint_node:
+            new_joints[joint_name] = joint
+            continue
+
+        # Okay, this is one we have to actually mirror
+        new_joint = Joint(joint.priority, [], [])
+
+        for rot_keyframe in joint.rot_keyframes:
+            new_joint.rot_keyframes.append(RotKeyframe(
+                time=rot_keyframe.time,
+                # Just need to mirror on yaw and roll
+                rot=Quaternion.from_euler(*(rot_keyframe.rot.to_euler() * Vector3(-1, 1, -1)))
+            ))
+
+        for pos_keyframe in joint.pos_keyframes:
+            new_joint.pos_keyframes.append(PosKeyframe(
+                time=pos_keyframe.time,
+                # Y is left / right so just negate it.
+                pos=pos_keyframe.pos * Vector3(1, -1, 1)
+            ))
+
+        new_joints[inverse_joint_node.name] = new_joint
+
+    return new_joints

hippolyzer/lib/base/helpers.py

@@ -195,3 +195,21 @@ def create_logged_task(
     task = asyncio.create_task(coro, name=name)
     add_future_logger(task, name, logger)
     return task
+
+
+def reorient_coord(coord, new_orientation, min_val: int | float = 0):
+    """
+    Reorient a coordinate instance such that its components are negated and transposed appropriately.
+
+    For ex:
+        reorient_coord((1,2,3), (3,-2,-1)) == (3,-2,-1)
+    """
+    min_val = abs(min_val)
+    coords = []
+    for axis in new_orientation:
+        axis_idx = abs(axis) - 1
+        new_coord = coord[axis_idx] if axis >= 0 else min_val - coord[axis_idx]
+        coords.append(new_coord)
+    if coord.__class__ in (list, tuple):
+        return coord.__class__(coords)
+    return coord.__class__(*coords)

hippolyzer/lib/base/llanim.py

@@ -15,6 +15,8 @@ CONSTRAINT_DATACLASS = se.ForwardSerializable(lambda: se.Dataclass(Constraint))
 POSKEYFRAME_DATACLASS = se.ForwardSerializable(lambda: se.Dataclass(PosKeyframe))
 ROTKEYFRAME_DATACLASS = se.ForwardSerializable(lambda: se.Dataclass(RotKeyframe))
 
+JOINTS_DICT = OrderedMultiDict[str, "Joint"]
+
 
 @dataclasses.dataclass
 class Animation:
@@ -29,7 +31,7 @@ class Animation:
     ease_in_duration: float = se.dataclass_field(se.F32)
     ease_out_duration: float = se.dataclass_field(se.F32)
     hand_pose: HandPose = se.dataclass_field(lambda: se.IntEnum(HandPose, se.U32), default=0)
-    joints: OrderedMultiDict[str, Joint] = se.dataclass_field(se.MultiDictAdapter(
+    joints: JOINTS_DICT = se.dataclass_field(se.MultiDictAdapter(
         se.Collection(se.U32, se.Tuple(se.CStr(), JOINT_DATACLASS)),
     ))
     constraints: List[Constraint] = se.dataclass_field(

hippolyzer/lib/base/mesh_skeleton.py

@@ -2,6 +2,7 @@ from __future__ import annotations
 
 import copy
 import dataclasses
+import re
 import weakref
 from typing import *
 
@@ -74,6 +75,29 @@ class JointNode:
                 children.append(node)
         return children
 
+    @property
+    def inverse(self) -> Optional[JointNode]:
+        l_re = re.compile(r"(.*?(?:_|\b))L((?:_|\b).*)")
+        r_re = re.compile(r"(.*?(?:_|\b))R((?:_|\b).*)")
+
+        inverse_name = None
+        if "Left" in self.name:
+            inverse_name = self.name.replace("Left", "Right")
+        elif "LEFT" in self.name:
+            inverse_name = self.name.replace("LEFT", "RIGHT")
+        elif l_re.match(self.name):
+            inverse_name = re.sub(l_re, r"\1R\2", self.name)
+        elif "Right" in self.name:
+            inverse_name = self.name.replace("Right", "Left")
+        elif "RIGHT" in self.name:
+            inverse_name = self.name.replace("RIGHT", "LEFT")
+        elif r_re.match(self.name):
+            inverse_name = re.sub(r_re, r"\1L\2", self.name)
+
+        if inverse_name:
+            return self.skeleton().joint_dict.get(inverse_name)
+        return None
+
     @property
     def descendents(self) -> Set[JointNode]:
         descendents: Set[JointNode] = set()