diff --git a/COMP3360_ANI_T3.pdf b/COMP3360_ANI_T3.pdf new file mode 100644 index 0000000..ad9d9d1 Binary files /dev/null and b/COMP3360_ANI_T3.pdf differ diff --git a/assignment_2/REAEME.md b/assignment_2/REAEME.md new file mode 100644 index 0000000..2049394 --- /dev/null +++ b/assignment_2/REAEME.md @@ -0,0 +1,127 @@ +# Assignment 2 - Motion Processing + +## Highlights + +* Submission DDL: TBA + +## Introduction + +This assignment will provide a practical introduction to working with animation data through various algorithms such as interpolation and concatenation. Additionally, you will learn to consider various variables from motion data to enhance the performance of the motion matching method. + +The experiment environment is re-designed by [GAMES105](https://github.com/GAMES-105/GAMES-105), thanks for the open sourcing. + +#### Submission + +File format: A compress file **[uid_name_assignment2.zip]** with: + +1. video_file1 [motion concatenation], video_file2 [motion_matching](if you video file is too big, you can also prepare a link to google drive or onedrive) +2. task1_motion_editing.py, task2_motion_matching.py +3. uid_name_2.pdf + +## Examples + +

+Desired results for Motion Concatenation +

+ +![motion_concatanetion](https://user-images.githubusercontent.com/7709951/226930135-b29efef4-e69e-4e3e-8eb1-42dc79f7efd3.gif) + +

+Desired results for Motion Matching +

+ +![motion_matching](https://user-images.githubusercontent.com/7709951/226930764-1156699f-9d86-4976-91f3-0d39538652b2.gif) + +## Before Task 1 & 2 + +#### Enviroment Setting + +As same as assignment 1, the Task 1 & 2 also requires Python 3 runtime and Panda3D library. + +```shell +# recommend to use Anaconda to manage enviroment +conda create -n comp3360 python=3.8 +conda activate comp3360 +conda install numpy scipy +pip install panda3d + +# Enviromtns verification. After running, you should see a skeleton in a 3D space +# If you are using Appli-Silicon Chip and meet black screen problem, check this ISSUE: https://github.com/Shimingyi/COMP3360_Data_Driven_Animation/issues/4 +cd ./assignment_2 +python env_test.py +``` + +#### Pre-knowledge + +Human Skeleton and Motion + +* As introduced in the tutorial, a body skeleton is a collection of bones representing the connection of body joints. The body joint is a 3D point in space, with (x, y, z) positional information as primary data. Sometimes, the offset between two joints will also be used, formulated by (x2-x1, y2-y1, z2-z1) with a vector. +* When we rotate a bone, a rotation value will be applied to the parent joint of this bone. For example, if we have joint_1 in (0, 0) and joint_2 in (1, 0), then a 45-degree anticlockwise rotation on joint_1 will yield the positional movement of joint_2, from (1, 0) to (sin45, sin45). +* Global/Local Rotation. The local rotation always means the relative rotation from the parent to the child's joint, and the global rotation (orientation) represents the global rotation of the whole 3D space. In the above case, after the rotation, the orientation of J1 and J2 is both 45 degrees, but the local rotation of J2 keeps the same as 0 degrees, only the local rotation of J1 will be updated to 45 degrees. +* BVH file is a combination of joint offset and local rotations, and you can find more details with this [link](https://research.cs.wisc.edu/graphics/Courses/cs-838-1999/Jeff/BVH.html). +* Quaternion is a rotation representation, you can find the details and its history with [wiki](https://en.wikipedia.org/wiki/Quaternion). In this project, (x, y, z, w) is the default order. + +Interpolation: + +* Linear Interpolation + We assume the offset between each two iteams is the same + + ```python + start_value, end_value = 0, 11 + between_num = 10 + offset = (start_value - end_value)/between_num + betweens = [start_value + offse*i for i in range(between_num)] + ``` +* SciPy Interpolation: [https://docs.scipy.org/doc/scipy/reference/interpolate.html](https://docs.scipy.org/doc/scipy/reference/interpolate.html) + + Imagain the interpolation as a function, we know some x and corresponded y, and send it to scipy function, it will return a reasonable known function that can be used further with a new_x. + + ```python + from scipy.spatial.transform import Slerp + + key_quaternions = R.from_quat(q1), …(q2) + keys = [0 , 1] + slerp_function = Slerp(keys, key_quaternions) + new_keys = np.linspace(0, 1, 10) -> 0, 0.1, 0.2 … 1 + interp_quaternions = slerp_function(new_keys) + ``` + +More Tips: + +* Numpy: Indexing of numpy array: [https://numpy.org/doc/stable/user/basics.indexing.html](https://numpy.org/doc/stable/user/basics.indexing.html) +* Motion Matching: [https://www.youtube.com/watch?v=KSTn3ePDt50](https://www.youtube.com/watch?v=KSTn3ePDt50) +* VS code debugging feature: [https://www.youtube.com/watch?v=KEdq7gC_RTA](https://www.youtube.com/watch?v=KEdq7gC_RTA) + +## Task 1 - Keyframing Animation + +For this task, you will be responsible for developing two interpolation functions and implementing them using various keyframing settings. By default, we require that you utilize linear interpolation for position data and slerp for rotation data. + +You are required to implement the interpolation functions at line 43 in *[task1_motion_editing.py](https://github.com/Shimingyi/COMP3360_Data_Driven_Animation/blob/2024/assignment_2/task1_motion_editing.p "task2_forward_kinematic.py").* After doing so, you should uncomment lines 184-187 one by one and execute the script in order to call the function. Successful execution should result in a walking motion being displayed. + +From Line 53, the primary keyframing process is detailed. First, the motion data is loaded, and then keyframes is taken every N (time_step) frames. Next, the interpolation function is called to generate M (target_step) posed frames. If N > M, the motion will play out more slowly, and if N < M, it will be faster. No modifications are required for this section of code. + +Screenshot of walking motion will be expected in the assignment report. + +## Task 2 - Motion Concatenation + +In this task, you will be required to implement a simple method for concatenating two distinct motions: walking and running. These motions are positioned globally in different locations and have distinct motion styles, directions, and velocities. As such, you will need to consider these differences to achieve a realistic concatenation. + +The basic structure of the pipeline is presented at line 92 in *[task1_motion_editing.py](https://github.com/Shimingyi/COMP3360_Data_Driven_Animation/blob/2024/assignment_2/task1_motion_editing.py#L92)*. Upon completing the implementation, you should uncomment line 189 and examine the final result, which will be a combination of the walking and running motions as shown as above figure. + +The basic pipeline consists of five steps, each of which will be considered in your grading: 1. Locating the search windows 2. Calculating the similarity matrix 3. Determining the closest frames with real frame indices 4. Shifting motion2 to motion1 5. Utilizing your task1 function for interpolation. + +Additionally, you will be eligible for bonus points if you can find ways to address the following issues: + +1. If the frame interval is set too high, noticeable on-the-fly motion will occur. How can we determine the optimal number of between frames? Alternatively, is there a way to enhance the realism of root position in these frames? +2. The current pipeline does not consider velocity. Inertialization is a viable option: https://theorangeduck.com/page/spring-roll-call#inertialization +3. Any other improvements are also welcome. + +## Task 3 - Motion Matching + +TBA + +## Task 4 - Report + +* PDF format, no page size requriment so you can also prepare it with powerpoint or keynote +* The first two lines should introduce your NAME and UID. +* Including necessary experiment results from **different parameters** (4%) and your **thinking**(4%) about how to produce high quality motions diff --git a/assignment_2/Viewer/controller.py b/assignment_2/Viewer/controller.py new file mode 100644 index 0000000..cfbdf48 --- /dev/null +++ b/assignment_2/Viewer/controller.py @@ -0,0 +1,373 @@ +''' +This code is highly inspired by the code from the following link: +https://github.com/orangeduck/Motion-Matching/blob/main/controller.cpp +''' + +from .viewer import SimpleViewer +import math +import numpy as np +from scipy.spatial.transform import Rotation as R +from .visualize_utils import * +from scipy.spatial.transform import Slerp +from panda3d.core import * +from direct.showbase.ShowBase import ShowBase + +class KeyAndPad(): + def __init__(self, viewer) -> None: + self.viewer = viewer + self.is_down = viewer.mouseWatcherNode.is_button_down + self.use_gamepad = False + self.input_vel = np.zeros(3) + try: + self.device = viewer.devices.getDevices(InputDevice.DeviceClass.gamepad)[0] + except IndexError: + self.device = None + + if self.device: + self.use_gamepad = True + self.set_gamepad_map() + else: + self.set_key_map() + + self.gait = 0 + + def key_input(self, axis, value): + if axis == 'x': + self.input_vel[0] = value + elif axis == 'z': + self.input_vel[2] = value + elif axis == 'gait': + self.gait = value + + def set_gamepad_map(self): + self.gamepad_map = { + 'x': InputDevice.Axis.left_x, + 'z': InputDevice.Axis.left_y, + } + self.viewer.attachInputDevice(self.device, prefix="gamepad") + self.viewer.taskMgr.add(self.update_gamepad, 'update_gamepad', sort = 1) + self.viewer.accept('gamepad-rshoulder', self.key_input, ['gait', 1]) + self.viewer.accept('gamepad-rshoulder-up', self.key_input, ['gait', 0]) + + def update_gamepad(self, task): + self.input_vel[0] = -self.device.findAxis(self.gamepad_map['x']).value + self.input_vel[2] = self.device.findAxis(self.gamepad_map['z']).value + if np.linalg.norm(self.input_vel) > 1: + self.input_vel /= np.linalg.norm(self.input_vel) + elif np.linalg.norm(self.input_vel) < 0.2: + # a dead zone + self.input_vel = np.zeros(3) + + right_x = self.device.findAxis(InputDevice.Axis.right_x).value + right_y = self.device.findAxis(InputDevice.Axis.right_y).value + self.viewer.cameractrl.updateGamepad(right_x, right_y, task) + return task.cont + + def set_key_map(self): + key_map = { + ('w', 'arrow_up'): ['z', 1], + ('s', 'arrow_down'): ['z', -1], + ('a', 'arrow_left'): ['x', 1], + ('d', 'arrow_right'): ['x', -1], + ('space', 'space'): ['gait', 1] + } + for key, value in key_map.items(): + self.viewer.accept(key[0], self.key_input, [value[0], value[1]]) + self.viewer.accept(key[0] + '-up', self.key_input, [value[0], 0]) + self.viewer.accept(key[1], self.key_input, [value[0], value[1]]) + self.viewer.accept(key[1] + '-up', self.key_input, [value[0], 0]) + + def get_input(self): + return self.input_vel + +def from_euler(e): + return R.from_euler('XYZ', e, degrees=True) + +class InterpolationHelper(): + @staticmethod + def lerp(a, b, t): + return a + (b - a) * t + + @staticmethod + def halflife2dampling(halflife): + return 4 * math.log(2) / halflife + + def simulation_positions_update(pos, vel, acc, target_vel, halflife, dt): + d = InterpolationHelper.halflife2dampling(halflife)/2 + j0 = vel - target_vel + j1 = acc + d * j0 + eydt = math.exp(-d * dt) + pos_prev = pos + tmp1 = j0+j1*dt + tmp2 = j1/(d*d) + pos = eydt * ( -tmp2 -tmp1/d ) + tmp2 + j0/d + target_vel*dt + pos_prev + vel = eydt*tmp1 + target_vel + acc = eydt * (acc - j1*d*dt) + return pos, vel, acc + @staticmethod + def simulation_rotations_update(rot, avel, target_rot, halflife, dt): + d = InterpolationHelper.halflife2dampling(halflife)/2 + j0 = R.from_quat(rot) * R.from_quat(target_rot).inv() + j0 = j0.as_rotvec() + j1 = avel + d * j0 + eydt = math.exp(-d * dt) + tmp1 = eydt * (j0 + j1 * dt) + rot = R.from_rotvec(tmp1) * R.from_quat(target_rot) + rot = rot.as_quat() + avel = eydt * (avel - j1 * dt * d) + return rot, avel + + @staticmethod + def decay_spring_implicit_damping_rot(rot, avel, halflife, dt): + d = InterpolationHelper.halflife2dampling(halflife)/2 + j0 = from_euler(rot).as_rotvec() + j1 = avel + d * j0 + eydt = math.exp(-d * dt) + a1 = eydt * (j0+j1*dt) + + rot_res = R.from_rotvec(a1).as_euler('XYZ', degrees=True) + avel_res = eydt * (avel - j1 * dt * d) + return rot_res, avel_res + + @staticmethod + def decay_spring_implicit_damping_pos(pos, vel, halflife, dt): + d = InterpolationHelper.halflife2dampling(halflife)/2 + j1 = vel + d * pos + eydt = math.exp(-d * dt) + pos = eydt * (pos+j1*dt) + vel = eydt * (vel - j1 * dt * d) + return pos, vel + + @staticmethod + def inertialize_transition_rot(prev_off_rot, prev_off_avel, src_rot, src_avel, dst_rot, dst_avel): + prev_off_rot, prev_off_avel = InterpolationHelper.decay_spring_implicit_damping_rot(prev_off_rot, prev_off_avel, 1/20, 1/60) + off_rot = from_euler(prev_off_rot) * from_euler(src_rot) * from_euler(dst_rot).inv() + off_avel = prev_off_avel + src_avel - dst_avel + # off_rot = from_euler(src_rot) * from_euler(dst_rot).inv() + # off_avel = src_avel - dst_avel + return off_rot.as_euler('XYZ', degrees=True), off_avel + + @staticmethod + def inertialize_update_rot(prev_off_rot, prev_off_avel, rot, avel, halflife, dt): + off_rot , off_avel = InterpolationHelper.decay_spring_implicit_damping_rot(prev_off_rot, prev_off_avel, halflife, dt) + rot = from_euler(off_rot) * from_euler(rot) + avel = off_avel + avel + return rot.as_euler('XYZ', degrees=True), avel, off_rot, off_avel + + @staticmethod + def inertialize_transition_pos(prev_off_pos, prev_off_vel, src_pos, src_vel, dst_pos, dst_vel): + prev_off_pos, prev_off_vel = InterpolationHelper.decay_spring_implicit_damping_pos(prev_off_pos, prev_off_vel, 1/20, 1/60) + off_pos = prev_off_pos + src_pos - dst_pos + off_vel = prev_off_vel + src_vel - dst_vel + return off_pos, off_vel + + @staticmethod + def inertialize_update_pos(prev_off_pos, prev_off_vel, pos, vel, halflife, dt): + off_pos , off_vel = InterpolationHelper.decay_spring_implicit_damping_pos(prev_off_pos, prev_off_vel, halflife, dt) + pos = off_pos + pos + vel = off_vel + vel + return pos, vel, off_pos, off_vel + +class Controller: + def __init__(self, viewer) -> None: + + self.vel = np.zeros(3) + self.acc = np.zeros(3) + self.avel = np.zeros(3) + self.desired_rotation = np.array([0,0,0,1]) + + self.dt = 1/60 + self.viewer = viewer + viewer.taskMgr.add(self.update) + self.future_step = 6 + self.futures = [] + + self.future_vel = [] + self.future_avel = [] + self.future_pos = [] + self.future_rot = [] + + self.desired_velocity_change = np.zeros(3) + self.desired_rotation_change = np.zeros(3) + + for i in range(self.future_step): + node = self.viewer.render.attach_new_node('future{i}') + node.setPos(0,0.01,0) + draw_circle_with_arrow(node, 0.5, (252/255, 173/255, 5/155,1), with_circle = i == 0) + node.reparentTo(self.viewer.render) + self.futures.append(node) + self._node = self.futures[0] + self.init_key_input() + self.halflife = 0.27 + self.move_speed = np.array([1.75, 1.5, 1.25]) + @property + def node(self): + return self._node + @property + def rotation(self): + return np.array(self.node.get_quat())[[1,2,3,0]] + @property + def cameractrl(self): + return self.viewer.cameractrl + @property + def input_vel(self): + return self.input_device.get_input() + + + def desired_velocity_update(self, camera_to_pos, input_vel, simulation_rotation): + camera_to_pos[1] = 0 + + fwrd_speed, side_speed, back_speed = self.move_speed + + angle = np.arctan2(camera_to_pos[0], camera_to_pos[2]) + rot = R.from_rotvec( angle * np.array([0,1,0]) ) + global_direction = rot.apply(input_vel) + + local_desired_direction = R.from_quat(simulation_rotation).inv().apply(global_direction) + local_desired_velocity = np.array([side_speed, 0, fwrd_speed]) * local_desired_direction \ + if local_desired_direction[2] > 0 else np.array([side_speed, 0, back_speed]) * local_desired_direction + + desired_velocity = R.from_quat(simulation_rotation).apply(local_desired_velocity) + return desired_velocity + + def desired_rotation_update(self, cur_rotation, desired_velocity): + if np.linalg.norm(desired_velocity) < 1e-5: + # return cur_rotation + return self.rotation + else: + desired_direction = desired_velocity / np.linalg.norm(desired_velocity) + return R.from_rotvec( np.arctan2(desired_direction[0], desired_direction[2]) * np.array([0,1,0]) ).as_quat() + + def init_key_input(self): + self.input_device = KeyAndPad(self.viewer) + + node = self.node.attach_new_node('camera_pos') + node.setPos(0, 3, -5) + self.cameractrl.position = node.getPos(self.viewer.render) + self.camera_ref_pos = node + self.camera_ref_pos.wrtReparentTo(self.node) + self.line = LineSegs() + self.geom = self.line.create(dynamic = True) + self.viewer.render.attach_new_node(self.geom) + + @property + def current_desired_rotation(self): + return np.array(self.futures[0].get_quat())[[1,2,3,0]] + + @property + def current_desired_position(self): + return np.array(self.futures[0].get_pos()) + + @property + def gait(self): + return self.input_device.gait + + def update_pos(self): + # self.input_vel = np.array([1,0,0]) + init_pos = self.node.get_pos() + init_rot = self.rotation + self.sub_step = 20 + + # map input to desired velocity + camera_fwd = self.cameractrl.center - self.cameractrl.position + cur_target_vel = self.desired_velocity_update(camera_fwd, self.input_vel, init_rot) + cur_target_rot = self.desired_rotation_update(self.desired_rotation, cur_target_vel) + self.desired_rotation = cur_target_rot + self.desired_vel = cur_target_vel + + self.desired_velocity_change = (cur_target_vel - self.vel)/self.dt + self.desired_rotation_change = (R.from_quat(cur_target_rot).inv() * R.from_quat(init_rot)).as_rotvec()/self.dt + + # predict future rotations + rotation_trajectory = [init_rot] + new_rot, new_avel = init_rot, self.avel + self.future_avel = [new_avel] + for i in range(self.future_step): + new_rot, new_avel = InterpolationHelper.simulation_rotations_update(new_rot, new_avel, cur_target_rot, self.halflife, self.dt* self.sub_step ) + rotation_trajectory.append(new_rot) + self.future_avel.append(new_avel.copy()) + + # predict future positions + new_pos, new_vel, new_acc = init_pos, self.vel, self.acc + position_trajectory = [init_pos] + self.future_vel = [new_vel] + for i in range(self.future_step - 1): + new_pos, new_vel, new_acc = InterpolationHelper.simulation_positions_update(new_pos, new_vel, new_acc, cur_target_vel, self.halflife, self.dt* self.sub_step ) + position_trajectory.append(new_pos) + self.future_vel.append(new_vel.copy()) + + # update current positions + rotation_trajectory[0], self.avel = InterpolationHelper.simulation_rotations_update(init_rot, self.avel, cur_target_rot, self.halflife, self.dt) + position_trajectory[0], self.vel, self.acc = InterpolationHelper.simulation_positions_update(init_pos, self.vel, self.acc, cur_target_vel, self.halflife, self.dt) + rotation_trajectory = np.array(rotation_trajectory).reshape(-1, 4) + + # record the trajectory + self.future_pos = np.array(position_trajectory).reshape(-1, 3) + self.future_rot = rotation_trajectory.copy() + self.future_vel[0] = self.vel.copy() + self.future_vel = np.array(self.future_vel).reshape(-1, 3) + self.future_avel[0] = self.avel.copy() + self.future_avel = np.array(self.future_avel).reshape(-1, 3) + + rotation_trajectory = rotation_trajectory[...,[3,0,1,2]] + for i in range(self.future_step): + self.futures[i].set_pos(*position_trajectory[i]) + self.futures[i].set_quat( Quat(*rotation_trajectory[i]) ) + + # update camera positions + delta = position_trajectory[0] - init_pos + delta = LVector3(*delta) + self.cameractrl.position = self.cameractrl.position + delta + self.cameractrl.center = self.cameractrl.center + delta + self.cameractrl.look() + + def draw_future(self): + self.line.reset() + self.line.set_color(240/255,31/255,141/255,0.1) + self.line.setThickness(3) + positions = [np.array(self.futures[i].get_pos()) for i in range(self.future_step)] + self.line.moveTo(*positions[0]) + for i in positions[1:]: + self.line.drawTo(i[0], i[1], i[2]) + self.geom.remove_all_geoms() + self.line.create(self.geom, True) + + def update(self, task): + self.update_pos() + self.draw_future() + return task.cont + + def set_pos(self, pos): + + init_pos = self.node.get_pos() + pos = pos.copy() + pos[1] = 0.01 + self.node.set_pos(*pos) + + delta = pos - init_pos + delta = LVector3(*delta) + self.cameractrl.position = self.cameractrl.position + delta + self.cameractrl.center = self.cameractrl.center + delta + self.cameractrl.look() + + + def set_rot(self, rot): + rot = rot.copy() + facing = R.from_quat(rot).apply(np.array([0,0,1])) + facing_xz = np.array([facing[0], 0, facing[2]]) + rot = R.from_rotvec( np.arctan2(facing_xz[0], facing_xz[2]) * np.array([0,1,0]) ).as_quat() + self.node.set_quat(Quat(rot[3], rot[0], rot[1], rot[2])) + + def get_desired_state(self): + return self.future_pos, self.future_rot, self.future_vel, self.future_avel, self.gait + +def main(): + viewer = SimpleViewer() + viewer.show_axis_frame() + controller = Controller(viewer) + viewer.run() + + +if __name__=="__main__": + main() + \ No newline at end of file diff --git a/assignment_2/Viewer/viewer.py b/assignment_2/Viewer/viewer.py new file mode 100644 index 0000000..2bb0f1b --- /dev/null +++ b/assignment_2/Viewer/viewer.py @@ -0,0 +1,548 @@ +from direct.showbase.ShowBase import ShowBase +import numpy as np +from panda3d.core import ClockObject +import panda3d.core as pc +import math +from direct.showbase.DirectObject import DirectObject +from direct.gui.DirectGui import * + +class CameraCtrl(DirectObject): + def __init__(self, base, camera): + super(CameraCtrl).__init__() + self.accept('mouse1',self.onMouse1Down) + self.accept('mouse1-up',self.onMouse1Up) + self.accept('mouse2',self.onMouse2Down) + self.accept('mouse2-up',self.onMouse2Up) + self.accept('mouse3',self.onMouse3Down) + self.accept('mouse3-up',self.onMouse3Up) + self.accept('wheel_down',self.onMouseWheelDown) + self.accept('wheel_up',self.onMouseWheelUp) + + self.accept('control-mouse1',self.onMouse1Down) + self.accept('control-mouse1-up',self.onMouse1Up) + self.accept('control-mouse2',self.onMouse2Down) + self.accept('control-mouse2-up',self.onMouse2Up) + self.accept('control-mouse3',self.onMouse3Down) + self.accept('control-mouse3-up',self.onMouse3Up) + self.accept('control-wheel_down',self.onMouseWheelDown) + self.accept('control-wheel_up',self.onMouseWheelUp) + + self.position = pc.LVector3(4,4,4) + self.center = pc.LVector3(0,1,0) + self.up = pc.LVector3(0,1,0) + + self.base = base + base.taskMgr.add(self.onUpdate, 'updateCamera', sort = 2) + self.camera = camera + + self._locked_info = None + self._locked_mouse_pos = None + self._mouse_id = -1 + + self.pre_position_x = 0 + self.pre_position_y = 0 + + self.gamepad_x = 0 + self.gamepad_y = 0 + self.has_pad = False + self.look() + self._locked_info = (pc.LVector3(self.position), pc.LVector3(self.center), pc.LVector3(self.up)) + + + def look(self): + self.camera.setPos(self.position) + self.camera.lookAt(self.center, self.up) + + @property + def _mousePos(self): + try: + cur_position_x = self.base.mouseWatcherNode.getMouseX() + cur_position_y = self.base.mouseWatcherNode.getMouseY() + except: + cur_position_x = self.pre_position_x + cur_position_y = self.pre_position_y + self.pre_position_x = cur_position_x + self.pre_position_y = cur_position_y + return pc.LVector2(cur_position_x, cur_position_y) + + def _lockMouseInfo(self): + self._locked_info = (pc.LVector3(self.position), pc.LVector3(self.center), pc.LVector3(self.up)) + self._locked_mouse_pos = self._mousePos + + def onMouse1Down(self): + self._lockMouseInfo() + self._mouse_id = 1 + + def onMouse1Up(self): + self._mouse_id = -1 + + def onMouse2Down(self): + self._lockMouseInfo() + self._mouse_id = 2 + + def onMouse2Up(self): + self._mouse_id = -1 + + def onMouse3Down(self): + self._lockMouseInfo() + self._mouse_id = 3 + + def onMouse3Up(self): + self._mouse_id = -1 + + def onMouseWheelDown(self): + z = self.position - self.center + + scale = 1.1 + + if scale < 0.05: + scale = 0.05 + + self.position = self.center + z * scale + self.look() + + def onMouseWheelUp(self): + z = self.position - self.center + + scale = 0.9 + + if scale < 0.05: + scale = 0.05 + + self.position = self.center + z * scale + self.look() + + def updateGamepad(self, x, y, task): + self.gamepad_x = x + self.gamepad_y = y + + self.has_pad = self.gamepad_x**2+self.gamepad_y**2 > 0.04 + + + def onUpdate(self, task): + if self._mouse_id < 0 and not self.has_pad: + return task.cont + + if self.has_pad: + mousePosOff = pc.LVector2(self.gamepad_x, self.gamepad_y) * 0.02 + else: + mousePosOff0 = self._mousePos - self._locked_mouse_pos + mousePosOff = self._mousePos - self._locked_mouse_pos + + if self._mouse_id == 1 or self.has_pad: + if self.has_pad: + z = self.position - self.center + else: + z = self._locked_info[0] - self._locked_info[1] + + zDotUp = self._locked_info[2].dot(z) + zMap = z - self._locked_info[2] * zDotUp + angX = math.acos(zMap.length() / z.length()) / math.pi * 180.0 + + if zDotUp < 0: + angX = -angX + + angleScale = 200.0 + + x = self._locked_info[2].cross(z) + x.normalize() + y = z.cross(x) + y.normalize() + + rot_x_angle = -mousePosOff.getY() * angleScale + rot_x_angle += angX + if rot_x_angle > 85: + rot_x_angle = 85 + if rot_x_angle < -85: + rot_x_angle = -85 + rot_x_angle -= angX + + rot_y = pc.LMatrix3() + rot_y.setRotateMat(-mousePosOff.getX() * angleScale, y, pc.CS_yup_right) + + rot_x = pc.LMatrix3() + rot_x.setRotateMat(-rot_x_angle, x, pc.CS_yup_right) + if not self.has_pad: + self.position = self._locked_info[1] + (rot_x * rot_y).xform(z) + else: + self.position = self.center + (rot_x * rot_y).xform(z) + + elif self._mouse_id == 2: + z = self._locked_info[0] - self._locked_info[1] + + shiftScale = 0.5 * z.length() + + x = self._locked_info[2].cross(z) + z.normalize() + x.normalize() + y = z.cross(x) + + shift = x * -mousePosOff.getX() + y* -mousePosOff.getY() + shift *= shiftScale + self.position = self._locked_info[0] + shift + self.center = self._locked_info[1] + shift + + elif self._mouse_id == 3: + z = self._locked_info[0] - self._locked_info[1] + + scale = 1 + scale = 1.0 + scale * mousePosOff0.getY() + + if scale < 0.05: + scale = 0.05 + + self.position = self._locked_info[1] + z * scale + + self.look() + + return task.cont + +class SimpleViewer(ShowBase): + def __init__(self, fStartDirect=True, windowType=None): + ''' + this is only used for my project... lots of assumptions... + ''' + super().__init__(fStartDirect, windowType) + self.disableMouse() + + self.camera.lookAt(0,0.9,0) + self.setupCameraLight() + self.camera.setHpr(0,0,0) + + self.setFrameRateMeter(True) + globalClock.setMode(ClockObject.MLimited) + globalClock.setFrameRate(60) + + self.load_ground() + + xSize = self.pipe.getDisplayWidth() + ySize = self.pipe.getDisplayHeight() + props = pc.WindowProperties() + props.setSize(min(xSize-200, 800), min(ySize-200, 600)) + self.win.requestProperties(props) + + # color for links + color = [131/255,175/255,155/255,1] + self.tex = self.create_texture(color, 'link_tex') + + self.load_character() + self.update_func = None + self.add_task(self.update, 'update') + self.update_flag = True + self.accept('space', self.receive_space) + pass + + def receive_space(self): + self.update_flag = not self.update_flag + + def create_texture(self, color, name): + img = pc.PNMImage(32,32) + img.fill(*color[:3]) + img.alphaFill(color[3]) + tex = pc.Texture(name) + tex.load(img) + return tex + + def load_ground(self): + self.ground = self.loader.loadModel("data/materials/GroundScene.egg") + self.ground.reparentTo(self.render) + self.ground.setScale(100, 1, 100) + self.ground.setTexScale(pc.TextureStage.getDefault(), 50, 50) + self.ground.setPos(0, -1, 0) + + def setupCameraLight(self): + # create a orbiting camera + self.cameractrl = CameraCtrl(self, self.cam) + self.cameraRefNode = self.camera # pc.NodePath('camera holder') + self.cameraRefNode.setPos(0,0,0) + self.cameraRefNode.setHpr(0,0,0) + self.cameraRefNode.reparentTo(self.render) + + self.accept("v", self.bufferViewer.toggleEnable) + + self.d_lights = [] + # Create Ambient Light + ambientLight = pc.AmbientLight('ambientLight') + ambientLight.setColor((0.4, 0.4, 0.4, 1)) + ambientLightNP = self.render.attachNewNode(ambientLight) + self.render.setLight(ambientLightNP) + + # Directional light 01 + directionalLight = pc.DirectionalLight('directionalLight1') + directionalLight.setColor((0.4, 0.4, 0.4, 1)) + directionalLightNP = self.render.attachNewNode(directionalLight) + directionalLightNP.setPos(10, 10, 10) + directionalLightNP.lookAt((0, 0, 0), (0, 1, 0)) + + directionalLightNP.wrtReparentTo(self.cameraRefNode) + self.render.setLight(directionalLightNP) + self.d_lights.append(directionalLightNP) + + # Directional light 02 + directionalLight = pc.DirectionalLight('directionalLight2') + directionalLight.setColor((0.4, 0.4, 0.4, 1)) + directionalLightNP = self.render.attachNewNode(directionalLight) + directionalLightNP.setPos(-10, 10, 10) + directionalLightNP.lookAt((0, 0, 0), (0, 1, 0)) + + directionalLightNP.wrtReparentTo(self.cameraRefNode) + self.render.setLight(directionalLightNP) + self.d_lights.append(directionalLightNP) + + + # Directional light 03 + directionalLight = pc.DirectionalLight('directionalLight3') + directionalLight.setColorTemperature(6500) + directionalLightNP = self.render.attachNewNode(directionalLight) + directionalLightNP.setPos(0, 20, -10) + directionalLightNP.lookAt((0, 0, 0), (0, 1, 0)) + + directionalLightNP.wrtReparentTo(self.cameraRefNode) + directionalLight.setShadowCaster(True, 2048, 2048) + directionalLight.getLens().setFilmSize((10,10)) + directionalLight.getLens().setNearFar(0.1,300) + + self.render.setLight(directionalLightNP) + self.d_lights.append(directionalLightNP) + + self.render.setShaderAuto(True) + + + def create_joint(self, link_id, position, end_effector=False): + # create a joint + box = self.loader.loadModel("data/materials/GroundScene.egg") + node = self.render.attachNewNode(f"joint{link_id}") + box.reparentTo(node) + + # add texture + box.setTextureOff(1) + if end_effector: + tex = self.create_texture([0,1,0,1], f"joint{link_id}_tex") + box.setTexture(tex, 1) + box.setScale(0.01,0.01,0.01) + node.setPos(self.render, *position) + return node + + def create_link(self, link_id, position, scale, rot): + # create a link + box = self.loader.loadModel("data/materials/GroundScene.egg") + node = self.render.attachNewNode(f"link{link_id}") + box.reparentTo(node) + + # add texture + box.setTextureOff(1) + box.setTexture(self.tex,1) + box.setScale(*scale) + + node.setPos(self.render, *position) + if rot is not None: + node.setQuat(self.render, pc.Quat(*rot[[3,0,1,2]].tolist())) + return node + + def show_axis_frame(self): + pose = [ [1,0,0], [0,1,0], [0,0,1] ] + color = [ [1,0,0,1], [0,1,0,1], [0,0,1,1] ] + for i in range(3): + box = self.loader.loadModel("data/materials/GroundScene.egg") + box.setScale(0.1, 0.1, 0.1) + box.setPos(*pose[i]) + tex = self.create_texture(color[i], f"frame{i}") + box.setTextureOff(1) + box.setTexture(tex,1) + box.reparentTo(self.render) + + + def update(self, task): + if self.update_func and self.update_flag: + self.update_func(self) + return task.cont + + def load_character(self): + info = np.load('data/default_skeleton.npy', allow_pickle=True).item() + joint_pos = info['joint_pos'] + body_pos = info['body_pos'] + joint_name = info['joint_name'] + body_rot = info.get('body_ori', None) + + joint, body = [], [] + + thickness = 0.03 + # joint_name = ['RootJoint'] + joint_name + name_idx_map = {joint_name[i]:i for i in range(len(joint_name))} + scale = [ [thickness]*3 for i in range(len(body_pos))] + + scale[name_idx_map['RootJoint']] = [0.06,0.06,thickness] + scale[name_idx_map['torso_head']] = [0.05,0.08,thickness] + scale[name_idx_map['lowerback_torso']] = [thickness,0.05,thickness] + scale[name_idx_map['pelvis_lowerback']] = [thickness,0.046,thickness] + + scale[name_idx_map['lHip']] = scale[name_idx_map['rHip']] = [thickness,0.2,thickness] + scale[name_idx_map['rKnee']] = scale[name_idx_map['lKnee']] = [thickness,0.19,thickness] + scale[name_idx_map['rAnkle']] = scale[name_idx_map['lAnkle']] = [thickness*1.5,thickness,0.08] + scale[name_idx_map['rToeJoint']] = scale[name_idx_map['lToeJoint']] = [thickness*1.5,thickness*0.6,0.02] + + scale[name_idx_map['rTorso_Clavicle']] = scale[name_idx_map['lTorso_Clavicle']] = [0.05,thickness,thickness] + scale[name_idx_map['rShoulder']] = scale[name_idx_map['lShoulder']] = [0.11,thickness,thickness] + scale[name_idx_map['rElbow']] = scale[name_idx_map['lElbow']] = [0.11,thickness,thickness] + scale[name_idx_map['rWrist']] = scale[name_idx_map['lWrist']] = [0.05,thickness*0.6,thickness*1.2] + + # joint_pos = np.concatenate([body_pos[0:1], joint_pos], axis=0) + for i in range(len(joint_pos)): + joint.append(self.create_joint(i, joint_pos[i], 'end' in joint_name[i])) + if i < body_pos.shape[0]: + body.append(self.create_link(i, body_pos[i], scale[i], rot = body_rot[i] if body_rot is not None else None)) + body[-1].wrtReparentTo(joint[-1]) + + self.joints = joint + self.joint_name = joint_name + self.name2idx = name_idx_map + self.parent_index = info['parent'] + self.init_joint_pos = self.get_joint_positions() + + def get_joint_positions(self): + pos = [joint.getPos(self.render) for joint in self.joints] + return np.concatenate([pos], axis=0) + + def get_joint_orientations(self): + quat = [joint.getQuat(self.render) for joint in self.joints] + return np.concatenate([quat], axis=0)[..., [1,2,3,0]] + + def get_joint_position_by_name(self, name): + pos = self.joints[self.name2idx[name]].getPos(self.render) + return np.array(pos) + + def get_joint_orientation_by_name(self, name): + quat = self.joints[self.name2idx[name]].getQuat(self.render) + return np.array(quat)[..., [1,2,3,0]] + + def set_joint_position_by_name(self, name, pos): + self.joints[self.name2idx[name]].setPos(self.render, *pos) + + def set_joint_orientation_by_name(self, name, quat): + self.joints[self.name2idx[name]].setQuat(self.render, pc.Quat(*quat[...,[3,0,1,2]].tolist())) + + def set_joint_position_orientation(self, link_name, pos, quat): + if not link_name in self.name2idx: + return + self.joints[self.name2idx[link_name]].setPos(self.render, *pos.tolist()) + self.joints[self.name2idx[link_name]].setQuat(self.render, pc.Quat(*quat[...,[3,0,1,2]].tolist())) + + def show_pose(self, joint_name_list, joint_positions, joint_orientations): + length = len(joint_name_list) + assert joint_positions.shape == (length, 3) + assert joint_orientations.shape == (length, 4) + + for i in range(length): + self.set_joint_position_orientation(joint_name_list[i], joint_positions[i], joint_orientations[i]) + def show_rest_pose(self, joint_name, joint_parent, joint_offset): + length = len(joint_name) + joint_positions = np.zeros((length, 3), dtype=np.float64) + joint_orientations = np.zeros((length, 4), dtype=np.float64) + for i in range(length): + if joint_parent[i] == -1: + joint_positions[i] = joint_offset[i] + else: + joint_positions[i] = joint_positions[joint_parent[i]] + joint_offset[i] + joint_orientations[i, 3] = 1.0 + self.set_joint_position_orientation(joint_name[i], joint_positions[i], joint_orientations[i]) + + def get_meta_data(self): + return self.joint_name, self.parent_index, self.init_joint_pos + + def move_marker(self, marker, x, y): + + if not self.update_marker_func: + return + + y_axis = self.cameractrl._locked_info[2] + z_axis = self.cameractrl.position - self.cameractrl.center + x_axis = np.cross(y_axis, z_axis) + x_axis = x_axis / np.linalg.norm(x_axis) + pos = np.array(marker.getPos(self.render)) + pos += x_axis * x + y_axis * y + marker.setPos(self.render, *pos.tolist()) + self.update_marker_func(self) + + def camera_fwd(self): + return self.cameractrl.center - self.cameractrl.position + + def create_marker(self, pos, color): + self.update_marker_func = None + marker = self.loader.loadModel("data/materials/GroundScene.egg") + marker.setScale(0.05,0.05,0.05) + marker.setPos(*pos) + tex = self.create_texture(color, "marker") + marker.setTextureOff(1) + marker.setTexture(tex,1) + + marker.wrtReparentTo(self.render) + + self.accept('w', self.move_marker, [marker, 0, 0.05]) + self.accept('s', self.move_marker, [marker, 0, -0.05]) + self.accept('a', self.move_marker, [marker, -0.05, 0]) + self.accept('d', self.move_marker, [marker, 0.05, 0]) + + self.accept('w-repeat', self.move_marker, [marker, 0, 0.05]) + self.accept('s-repeat', self.move_marker, [marker, 0, -0.05]) + self.accept('a-repeat', self.move_marker, [marker, -0.05, 0]) + self.accept('d-repeat', self.move_marker, [marker, 0.05, 0]) + return marker + + def create_marker2(self, pos, color): + self.update_marker_func = None + marker = self.loader.loadModel("data/materials/GroundScene.egg") + marker.setScale(0.05,0.05,0.05) + marker.setPos(*pos) + tex = self.create_texture(color, "marker") + marker.setTextureOff(1) + marker.setTexture(tex,1) + + marker.wrtReparentTo(self.render) + + self.accept('arrow_up', self.move_marker, [marker, 0, 0.05]) + self.accept('arrow_down', self.move_marker, [marker, 0, -0.05]) + self.accept('arrow_left', self.move_marker, [marker, -0.05, 0]) + self.accept('arrow_right', self.move_marker, [marker, 0.05, 0]) + + self.accept('arrow_up-repeat', self.move_marker, [marker, 0, 0.05]) + self.accept('arrow_down-repeat', self.move_marker, [marker, 0, -0.05]) + self.accept('arrow_left-repeat', self.move_marker, [marker, -0.05, 0]) + self.accept('arrow_right-repeat', self.move_marker, [marker, 0.05, 0]) + return marker + + def create_arrow(self, pos, forward_xz = np.array([0,1]), color = [1,0,0,0]): + from .visualize_utils import draw_arrow + arrow = self.render.attachNewNode("arrow") + draw_arrow(arrow, 0.3, 1, color) + arrow.setPos(*pos) + + from scipy.spatial.transform import Rotation as R + axis = np.array([0,1,0]) + angle = np.arctan2(forward_xz[0], forward_xz[1]) + rot = R.from_rotvec(angle * axis).as_quat() + quat = pc.Quat(rot[3], rot[0], rot[1], rot[2]) + arrow.setQuat(quat) + return arrow + + +class ShowBVHUpdate(): + def __init__(self, viewer, joint_name, translation, orientation): + self.viewer = viewer + self.cur_frame = 0 + self.joint_name = joint_name + self.translation = translation + self.orientation = orientation + + def update(self, task): + if not self.viewer.update_flag: + return task.cont + + speed_inv = 1 + for i in range(len(self.joint_name)): + self.viewer.set_joint_position_orientation( + self.joint_name[i], + self.translation[self.cur_frame // speed_inv, i, :], + self.orientation[self.cur_frame // speed_inv, i, :]) + self.cur_frame = (self.cur_frame + 1) % (self.translation.shape[0] * + speed_inv) + return task.cont \ No newline at end of file diff --git a/assignment_2/Viewer/visualize_utils.py b/assignment_2/Viewer/visualize_utils.py new file mode 100644 index 0000000..62d352f --- /dev/null +++ b/assignment_2/Viewer/visualize_utils.py @@ -0,0 +1,88 @@ +from panda3d.core import * +import numpy as np + + +def draw_circle(nodepath, radius, color): + from direct.showutil.Rope import Rope + r = Rope() + w = 0.5 + a = 0.866*radius + b = 0.5*radius + c = 1*radius + points = [ + (-a, 0, b, 1), + (0, 0, c, w), + (a, 0, b, 1), + (a, 0, -b, w), + (0, 0, -c, 1), + (-a, 0, -b, w), + (-a, 0, b, 1), + ] + verts = [ + { + 'node': nodepath, + 'point': point, + 'color': color, + 'thickness': 10, + } + for point in points + ] + r.ropeNode.setUseVertexThickness(1) + r.ropeNode.setUseVertexColor(1) + r.setup(3, verts, knots=[0, 0, 0, 1/3, 1/3, 2/3, 2/3, 1, 1, 1]) + r.reparentTo(nodepath) + return r + + +def draw_circle_with_arrow(nodepath, radius, color, with_circle=True): + if with_circle: + draw_circle(nodepath, radius, color) + from direct.showutil import BuildGeometry as BG + node = nodepath.attach_new_node('arrow') + _, _, geo = BG.addArrowGeom( + node, 0.03, 0.3, color=Vec4(*(i/2 for i in color))) + node.setQuat(Quat(0, 0, 1, 0)*Quat(0.707, 0.707, 0, 0)) + node.setPos(0, 0, 0.15) + node.wrtReparentTo(nodepath) + return node + + +def draw_arrow(nodepath, width, length, color): + from direct.showutil import BuildGeometry as BG + node = nodepath.attach_new_node('arrow') + _, _, geo = BG.addArrowGeom( + node, width, length, color=Vec4(*(i for i in color))) + node.setQuat(Quat(0, 0, 1, 0)*Quat(0.707, 0.707, 0, 0)) + node.setPos(0, 0, length/2) + node.wrtReparentTo(nodepath) + return node + + +def pos_vel_to_beizer(position, velocity, dt): + position = position.reshape(-1, 3) + velocity = velocity.reshape(-1, 3) + prev = position - velocity*dt + post = position + velocity*dt + points = np.concatenate([prev, position, post], axis=-1).reshape(-1, 3) + points = points[1:-1] + return points + + +def draw_beizer(positions, velocity, dt, rope): + points = pos_vel_to_beizer(positions, velocity, dt) + points = [{ + 'node': None, + 'point': tuple(point), + 'color': (0, 0, 1, 1), + 'thickness': 10, + } for point in points] + if rope is None: + from direct.showutil.Rope import Rope + rope = Rope() + rope.ropeNode.setUseVertexThickness(1) + rope.ropeNode.setUseVertexColor(1) + rope.setup(3, points) + rope.set_render_mode_thickness(100) + return rope + # rope.verts = points + # rope.recompute() diff --git a/assignment_2/data/default_skeleton.npy b/assignment_2/data/default_skeleton.npy new file mode 100644 index 0000000..f282975 Binary files /dev/null and b/assignment_2/data/default_skeleton.npy differ diff --git a/assignment_2/data/materials/Checker.png b/assignment_2/data/materials/Checker.png new file mode 100644 index 0000000..0fb69e9 Binary files /dev/null and b/assignment_2/data/materials/Checker.png differ diff --git a/assignment_2/data/materials/GroundScene.egg b/assignment_2/data/materials/GroundScene.egg new file mode 100644 index 0000000..d56bd93 --- /dev/null +++ b/assignment_2/data/materials/GroundScene.egg @@ -0,0 +1,78 @@ + { Y-up } + + Checker { + "Checker.png" + envtype { MODULATE } + minfilter { LINEAR_MIPMAP_LINEAR } + magfilter { LINEAR_MIPMAP_LINEAR } + wrap { REPEAT } + } + Cube { + { + { + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0 + } + } + + Cube { + 0 {-1.000000 -1.000000 -1.000000 { 0.0 0.0 } } + 1 {-1.000000 -1.000000 1.000000 { 0.0 1.0 } } + 2 {-1.000000 1.000000 1.000000 { 1.0 1.0 } } + 3 {-1.000000 1.000000 -1.000000 { 1.0 0.0 } } + 4 {-1.000000 1.000000 -1.000000 { 0.0 0.0 } } + 5 {-1.000000 1.000000 1.000000 { 0.0 1.0 } } + 6 { 1.000000 1.000000 1.000000 { 1.0 1.0 } } + 7 { 1.000000 1.000000 -1.000000 { 1.0 0.0 } } + 8 { 1.000000 1.000000 -1.000000 { 0.0 0.0 } } + 9 { 1.000000 1.000000 1.000000 { 0.0 1.0 } } + 10 { 1.000000 -1.000000 1.000000 { 1.0 1.0 } } + 11 { 1.000000 -1.000000 -1.000000 { 1.0 0.0 } } + 12 { 1.000000 -1.000000 -1.000000 { 0.0 0.0 } } + 13 { 1.000000 -1.000000 1.000000 { 0.0 1.0 } } + 14 {-1.000000 -1.000000 1.000000 { 1.0 1.0 } } + 15 {-1.000000 -1.000000 -1.000000 { 1.0 0.0 } } + 16 {-1.000000 1.000000 -1.000000 { 0.0 0.0 } } + 17 { 1.000000 1.000000 -1.000000 { 0.0 1.0 } } + 18 { 1.000000 -1.000000 -1.000000 { 1.0 1.0 } } + 19 {-1.000000 -1.000000 -1.000000 { 1.0 0.0 } } + 20 { 1.000000 1.000000 1.000000 { 0.0 0.0 } } + 21 {-1.000000 1.000000 1.000000 { 0.0 1.0 } } + 22 {-1.000000 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end of file diff --git a/assignment_2/env_test.py b/assignment_2/env_test.py new file mode 100644 index 0000000..0e08000 --- /dev/null +++ b/assignment_2/env_test.py @@ -0,0 +1,5 @@ +from viewer import SimpleViewer + +if __name__ == "__main__": + viewer = SimpleViewer() + viewer.run() diff --git a/assignment_2/file_io.py b/assignment_2/file_io.py new file mode 100644 index 0000000..b6c0a29 --- /dev/null +++ b/assignment_2/file_io.py @@ -0,0 +1,162 @@ +import copy +import numpy as np +import scipy.signal as signal +from scipy.spatial.transform import Rotation as R + +def load_meta_data(bvh_path): + with open(bvh_path, 'r') as f: + channels = [] + joint_names = [] + joint_parents = [] + joint_offsets = [] + end_sites = [] + + parent_stack = [None] + for line in f: + if 'ROOT' in line or 'JOINT' in line: + joint_names.append(line.split()[-1]) + joint_parents.append(parent_stack[-1]) + channels.append('') + joint_offsets.append([0, 0, 0]) + + elif 'End Site' in line: + end_sites.append(len(joint_names)) + joint_names.append(parent_stack[-1] + '_end') + joint_parents.append(parent_stack[-1]) + channels.append('') + joint_offsets.append([0, 0, 0]) + + elif '{' in line: + parent_stack.append(joint_names[-1]) + + elif '}' in line: + parent_stack.pop() + + elif 'OFFSET' in line: + joint_offsets[-1] = np.array([float(x) for x in line.split()[-3:]]).reshape(1,3) + + elif 'CHANNELS' in line: + trans_order = [] + rot_order = [] + for token in line.split(): + if 'position' in token: + trans_order.append(token[0]) + + if 'rotation' in token: + rot_order.append(token[0]) + + channels[-1] = ''.join(trans_order)+ ''.join(rot_order) + + elif 'Frame Time:' in line: + break + + joint_parents = [-1]+ [joint_names.index(i) for i in joint_parents[1:]] + channels = [len(i) for i in channels] + return joint_names, joint_parents, channels, joint_offsets + + +def load_motion_data(bvh_file_path): + with open(bvh_file_path, 'r') as f: + lines = f.readlines() + for i in range(len(lines)): + if lines[i].startswith('Frame Time'): + break + motion_data = [] + for line in lines[i+1:]: + data = [float(x) for x in line.split()] + if len(data) == 0: + break + motion_data.append(np.array(data).reshape(1,-1)) + motion_data = np.concatenate(motion_data, axis=0) + + joint_names, joint_parents, channels, joint_offsets = load_meta_data(bvh_file_path) + joint_number = len(joint_names) + + local_joint_positions = np.zeros((motion_data.shape[0], joint_number, 3)) + local_joint_rotations = np.zeros((motion_data.shape[0], joint_number, 4)) + local_joint_rotations[:,:,3] = 1.0 + + cur_channel = 0 + for i in range(len(joint_names)): + if channels[i] == 0: + local_joint_positions[:,i,:] = joint_offsets[i].reshape(1,3) + continue + elif channels[i] == 3: + local_joint_positions[:,i,:] = joint_offsets[i].reshape(1,3) + rotation = motion_data[:, cur_channel:cur_channel+3] + elif channels[i] == 6: + local_joint_positions[:, i, :] = motion_data[:, cur_channel:cur_channel+3] + rotation = motion_data[:, cur_channel+3:cur_channel+6] + local_joint_rotations[:, i, :] = R.from_euler('XYZ', rotation,degrees=True).as_quat() + cur_channel += channels[i] + + return motion_data, local_joint_positions, local_joint_rotations + + +class BVHMotion(): + def __init__(self, bvh_file_name = None) -> None: + + self.joint_name = [] + self.joint_channel = [] + self.joint_parent = [] + + self.local_joint_positions = None # (N,M,3) 的ndarray, 局部平移 + self.local_joint_rotations = None # (N,M,4)的ndarray, 用四元数表示的局部旋转 + + if bvh_file_name is not None: + self.load_motion(bvh_file_name) + pass + + def load_motion(self, bvh_file_path): + self.joint_name, self.joint_parent, self.joint_channel, self.joint_offset = \ + load_meta_data(bvh_file_path) + + self.motion_data, self.local_joint_positions, self.local_joint_rotations = load_motion_data(bvh_file_path) + + def batch_forward_kinematics(self, joint_position=None, joint_rotation=None): + if joint_position is None: + joint_position = self.local_joint_positions + if joint_rotation is None: + joint_rotation = self.local_joint_rotations + + if len(joint_position.shape) == 2: + joint_position = joint_position.reshape(1, -1, 3).copy() + joint_rotation = joint_rotation.reshape(1, -1, 4).copy() + + joint_translation = np.zeros_like(joint_position) + joint_orientation = np.zeros_like(joint_rotation) + joint_orientation[:,:,3] = 1.0 + + for i in range(len(self.joint_name)): + pi = self.joint_parent[i] + parent_orientation = R.from_quat(joint_orientation[:,pi,:]) + joint_translation[:, i, :] = joint_translation[:, pi, :] + \ + parent_orientation.apply(joint_position[:, i, :]) + joint_orientation[:, i, :] = (parent_orientation * R.from_quat(joint_rotation[:, i, :])).as_quat() + return joint_translation, joint_orientation + + def raw_copy(self): + return copy.deepcopy(self) + + def sub_sequence(self, start, end): + res = self.raw_copy() + res.local_joint_positions = res.local_joint_positions[start:end,:,:] + res.local_joint_rotations = res.local_joint_rotations[start:end,:,:] + return res + + def adjust_joint_name(self, target_joint_name): + idx = [ + self.joint_name.index(joint_name) + for joint_name in target_joint_name + ] + idx_inv = [ + target_joint_name.index(joint_name) + for joint_name in self.joint_name + ] + self.joint_name = [self.joint_name[i] for i in idx] + self.joint_parent = [idx_inv[self.joint_parent[i]] for i in idx] + self.joint_parent[0] = -1 + self.joint_channel = [self.joint_channel[i] for i in idx] + self.local_joint_positions = self.local_joint_positions[:, idx, :] + self.local_joint_rotations = self.local_joint_rotations[:, idx, :] + pass \ No newline at end of file diff --git a/assignment_2/matching_utils.py b/assignment_2/matching_utils.py new file mode 100644 index 0000000..b3e3462 --- /dev/null +++ b/assignment_2/matching_utils.py @@ -0,0 +1,155 @@ +import math +import numpy as np +from scipy.spatial.transform import Rotation as R + +def from_euler(e): + return R.from_euler('XYZ', e, degrees=True) + +def lerp(a, b, t): + return a + (b - a) * t + + +def align_quat(qt: np.ndarray, inplace: bool): + ''' make q_n and q_n+1 in the same semisphere + + the first axis of qt should be the time + ''' + qt = np.asarray(qt) + if qt.shape[-1] != 4: + raise ValueError('qt has to be an array of quaterions') + + if not inplace: + qt = qt.copy() + + if qt.size == 4: # do nothing since there is only one quation + return qt + + sign = np.sum(qt[:-1] * qt[1:], axis=-1) + sign[sign < 0] = -1 + sign[sign >= 0] = 1 + sign = np.cumprod(sign, axis=0, ) + + qt[1:][sign < 0] *= -1 + + return qt + + +def quat_to_avel(rot, dt): + quat_diff = (rot[1:] - rot[:-1])/dt + quat_diff[...,-1] = (1 - np.sum(quat_diff[...,:-1]**2, axis=-1)).clip(min = 0)**0.5 + quat_tmp = rot[:-1].copy() + quat_tmp[...,:3] *= -1 + shape = quat_diff.shape[:-1] + rot_tmp = R.from_quat(quat_tmp.reshape(-1, 4)) * R.from_quat(quat_diff.reshape(-1, 4)) + return 2 * rot_tmp.as_quat().reshape( shape + (4, ) )[...,:3] + + +def forward_kinematics_with_channel(joint_parent, joint_channel, joint_offset, motion_data): + num = len(joint_parent) + joint_positions = np.zeros((motion_data.shape[0], num, 3)) + joint_orientations = np.zeros((motion_data.shape[0], num, 4)) + joint_orientations[...,3] = 1 + + j = 0 + for i in range(num): + + if joint_channel[i] == 6: + joint_positions[:, i] = joint_offset[i] + motion_data[:, j:j+3] + rot = R.from_euler('XYZ', motion_data[:, j+3:j+6], degrees=True) + if joint_parent[i] != -1: + joint_positions[:, i] += joint_positions[:, joint_parent[i]] + rot = R.from_quat(joint_orientations[:, joint_parent[i]])*rot + joint_orientations[:, i] = rot.as_quat() + j += 6 + else: + parent_rot = R.from_quat(joint_orientations[:, joint_parent[i]]) + joint_positions[:, i] = joint_positions[:, joint_parent[i]] + parent_rot.apply(joint_offset[i]) + if joint_channel[i] == 3: + joint_orientations[:, i] = (parent_rot*R.from_euler('XYZ', motion_data[:, j:j+3], degrees=True)).as_quat() + j += 3 + return joint_positions, joint_orientations + + +class InterpolationHelper(): + + @staticmethod + def halflife2dampling(halflife): + return 4 * math.log(2) / halflife + + def simulation_positions_update(pos, vel, acc, target_vel, halflife, dt): + d = InterpolationHelper.halflife2dampling(halflife)/2 + j0 = vel - target_vel + j1 = acc + d * j0 + eydt = math.exp(-d * dt) + pos_prev = pos + tmp1 = j0+j1*dt + tmp2 = j1/(d*d) + pos = eydt * ( -tmp2 -tmp1/d ) + tmp2 + j0/d + target_vel*dt + pos_prev + vel = eydt*tmp1 + target_vel + acc = eydt * (acc - j1*d*dt) + return pos, vel, acc + + @staticmethod + def simulation_rotations_update(rot, avel, target_rot, halflife, dt): + d = InterpolationHelper.halflife2dampling(halflife)/2 + j0 = R.from_quat(rot) * R.from_quat(target_rot).inv() + j0 = j0.as_rotvec() + j1 = avel + d * j0 + eydt = math.exp(-d * dt) + tmp1 = eydt * (j0 + j1 * dt) + rot = R.from_rotvec(tmp1) * R.from_quat(target_rot) + rot = rot.as_quat() + avel = eydt * (avel - j1 * dt * d) + return rot, avel + + @staticmethod + def decay_spring_implicit_damping_rot(rot, avel, halflife, dt): + d = InterpolationHelper.halflife2dampling(halflife)/2 + j0 = from_euler(rot).as_rotvec() + j1 = avel + d * j0 + eydt = math.exp(-d * dt) + a1 = eydt * (j0+j1*dt) + + rot_res = R.from_rotvec(a1).as_euler('XYZ', degrees=True) + avel_res = eydt * (avel - j1 * dt * d) + return rot_res, avel_res + + @staticmethod + def decay_spring_implicit_damping_pos(pos, vel, halflife, dt): + d = InterpolationHelper.halflife2dampling(halflife)/2 + j1 = vel + d * pos + eydt = math.exp(-d * dt) + pos = eydt * (pos+j1*dt) + vel = eydt * (vel - j1 * dt * d) + return pos, vel + + @staticmethod + def inertialize_transition_rot(prev_off_rot, prev_off_avel, src_rot, src_avel, dst_rot, dst_avel): + prev_off_rot, prev_off_avel = InterpolationHelper.decay_spring_implicit_damping_rot(prev_off_rot, prev_off_avel, 1/20, 1/60) + off_rot = from_euler(prev_off_rot) * from_euler(src_rot) * from_euler(dst_rot).inv() + off_avel = prev_off_avel + src_avel - dst_avel + # off_rot = from_euler(src_rot) * from_euler(dst_rot).inv() + # off_avel = src_avel - dst_avel + return off_rot.as_euler('XYZ', degrees=True), off_avel + + @staticmethod + def inertialize_update_rot(prev_off_rot, prev_off_avel, rot, avel, halflife, dt): + off_rot , off_avel = InterpolationHelper.decay_spring_implicit_damping_rot(prev_off_rot, prev_off_avel, halflife, dt) + rot = from_euler(off_rot) * from_euler(rot) + avel = off_avel + avel + return rot.as_euler('XYZ', degrees=True), avel, off_rot, off_avel + + @staticmethod + def inertialize_transition_pos(prev_off_pos, prev_off_vel, src_pos, src_vel, dst_pos, dst_vel): + prev_off_pos, prev_off_vel = InterpolationHelper.decay_spring_implicit_damping_pos(prev_off_pos, prev_off_vel, 1/20, 1/60) + off_pos = prev_off_pos + src_pos - dst_pos + off_vel = prev_off_vel + src_vel - dst_vel + return off_pos, off_vel + + @staticmethod + def inertialize_update_pos(prev_off_pos, prev_off_vel, pos, vel, halflife, dt): + off_pos , off_vel = InterpolationHelper.decay_spring_implicit_damping_pos(prev_off_pos, prev_off_vel, halflife, dt) + pos = off_pos + pos + vel = off_vel + vel + return pos, vel, off_pos, off_vel + \ No newline at end of file diff --git a/assignment_2/task1_motion_editing.py b/assignment_2/task1_motion_editing.py new file mode 100755 index 0000000..c5c606f --- /dev/null +++ b/assignment_2/task1_motion_editing.py @@ -0,0 +1,197 @@ +import numpy as np +from scipy.spatial.transform import Rotation as R +from scipy.spatial.transform import Slerp + +from file_io import BVHMotion +from Viewer.controller import SimpleViewer +from Viewer.viewer import ShowBVHUpdate + +''' +Find the betweening data between left_data and right_data +Parameters: + - left_data: the left data + - right_data: the right data + - t: the number of betweening frames + - method: the interpolation method, 'linear' or 'slerp' +Return: An array for the betweening data, + if return_first_key=True, then including the known left one, + for example, if t=9, then the result should be 9 frames including the left one +''' +def interpolation(left_data, right_data, t, method='linear', return_first_key=True): + res = [left_data] if return_first_key else [] + ''' + TODO: Implement following functions + Hints: + 1. The shape of data is (num_joints, 3) for position and (num_joints, 4) for rotation + 2. The rotation data is in quaternion format + 3. We use linear interpolation for position and slerp for rotation + * The linear interpolation can be obtained by the following formula: + data_between = left_data + (right_data - left_data) * (i / t) + 4. We use scipy.spatial.transform.Slerp to do slerp interpolation (https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Slerp.html) + * The Slerp can be obtained by the following code: + key_rots = R.from_quat([q1, q2]) + key_frames= [0, 1] + slerp = Slerp(key_times, key_rots) + new_key_frames = np.linspace(0, 1, t+1)) + interp_rots = slerp(new_key_frames) + * The slerp in scipy doesn't support quaternion with shape (num_joints, 4), + so you need to take the quaternion for each joint in a loop with joint_num, + like left_data[joint_idx], then combine them after the loop. + * Don't take the last frame of slerp, because it is the same as the right_data + ''' + ########## Code Start ############ + if method == 'linear': + + + return res + elif method == 'slerp': + + + return res + ########## Code End ############ + +def part1_key_framing(viewer, time_step, target_step): + motion = BVHMotion('data/motion_walking.bvh') + + motio_length = motion.local_joint_positions.shape[0] + keyframes = np.arange(0, motio_length, time_step) + + new_motion_local_positions, new_motion_local_rotations = [], [] + + previous_frame_idx = 0 + for current_frame_idx in keyframes[1:]: + between_local_pos = interpolation(motion.local_joint_positions[previous_frame_idx], + motion.local_joint_positions[current_frame_idx], + target_step - 1, 'linear') + between_local_rot = interpolation(motion.local_joint_rotations[previous_frame_idx], + motion.local_joint_rotations[current_frame_idx], + target_step - 1, 'slerp') + new_motion_local_positions.append(between_local_pos) + new_motion_local_rotations.append(between_local_rot) + previous_frame_idx = current_frame_idx + + res_motion = motion.raw_copy() + res_motion.local_joint_positions = np.concatenate(new_motion_local_positions) + res_motion.local_joint_rotations = np.concatenate(new_motion_local_rotations) + + translation, orientation = res_motion.batch_forward_kinematics() + task = ShowBVHUpdate(viewer, res_motion.joint_name, translation, orientation) + viewer.addTask(task.update) + +''' +Combine two different motions into one motion +Parameters: + - motion1: the first motion + - motion2: the second motion + - last_frame_index: the last frame index of the first motion + - start_frame_indx: the start frame index of the second motion + - between_frames: the number of frames between the two motions + - searching_frames: the number of frames for searching the closest frame + - method: the interpolation method, 'interpolation' or 'inertialization' +''' +def concatenate_two_motions(motion1, motion2, last_frame_index, start_frame_indx, between_frames, searching_frames=20, method='interpolation'): + ''' + TODO: Implement following functions + Hints: + 1. We should operation on the local joint positions and rotations + motion.local_joint_positions: (num_frames, num_joints, 3) + motion.local_joint_rotations: (num_frames, num_joints, 4) + 2. There are five steps in the concatenation: + i) get the searching windows for motion 1 and motion 2 + win_1 = motion1.local_joint_rotations[last_frame_index - searching_frames:last_frame_index + searching_frames] + win_2 = motion2.local_joint_rotations[max(0, start_frame_indx - searching_frames):start_frame_indx + searching_frames] + ii) find the closest frame in motion 1 searching window and motion 2 searching window + * You can use similarity matrix in DTW (Dynamic Time Warping) to find the closest frame (motion editing slides) + * sim_matrix is a matrix with shape (win_1.shape[0], win_2.shape[0]) + * sim_matrix[i, j] = np.linalg.norm(search_source[i] - search_target[j]) + * Find the minimum value in sim_matrix and get the corresponding index i and j + iii) the i and j is the index for the searching window, so convert it to the index in the original motion sequence + iv) we have the pose in motion_1(real_i) and motion_2(real_j), then we can do the interpolation + * The interpolation should be done for the *positions* and *rotations* both + * (Shifting) You must align the root positions of motion_2(real_j) to the root positions of motion_1(real_i) + # The shifting is done by updating variable: motion2.local_joint_positions = motion2.local_joint_positions - ? + v) combine the motion1, betweening, motion2 into one motion (have been provided) + 3. You can get all marks if you done above steps correctly, but bonus will be given if you can do any one of them: + (bonus) There are N between_frames, but the root position in these frames are not considered + (bonus) The velocity of two motions are not the same, it can give different weight to the two motions interpolation + (bonus) The inertialization method provides the best results ref:https://theorangeduck.com/page/spring-roll-call#inertialization + (bonus) Any way to produce more smooth and natural transitions + + Useful functions: + 1. The differece between two vectors: np.linalg.norm(a - b) + 2. The index of minimal value in a matrix: np.min(dtw) + 3. local_joint_rotations = motion.local_joint_rotations + 4. local_joint_positions = motion.local_joint_positions + 5. Visualize the dtw matrix: + import matplotlib.pyplot as plt + plt.imshow(dtw) + plt.show() # You can use plt.savefig('dtw.png') to save the image + ''' + + ########## Code Start ############ + # search_win1 = + # search_win2 = + + # sim_matrix = + # min_idx = + # i, j = min_idx // dtw.shape[1], min_idx % dtw.shape[1] + # real_i, real_j = + + # motion2.local_joint_positions = motion2.local_joint_positions - ? + + # between_local_pos = interpolation(?, ?, between_frames, 'linear') + # between_local_rot = interpolation(?, ?, between_frames, 'slerp') + + ########## Code End ############ + + res = motion1.raw_copy() + res.local_joint_positions = np.concatenate([motion1.local_joint_positions[:real_i], + between_local_pos, + motion2.local_joint_positions[real_j:]], + axis=0) + res.local_joint_rotations = np.concatenate([motion1.local_joint_rotations[:real_i], + between_local_rot, + motion2.local_joint_rotations[real_j:]], + axis=0) + return res + + +def part2_concatenate(viewer, between_frames, do_interp=True): + walk_forward = BVHMotion('data/motion_walking.bvh') + run_forward = BVHMotion('data/motion_running.bvh') + run_forward.adjust_joint_name(walk_forward.joint_name) + + last_frame_index = 40 + start_frame_indx = 0 + + if do_interp: + motion = concatenate_two_motions(walk_forward, run_forward, last_frame_index, start_frame_indx, between_frames, method='interpolation') + else: + motion = walk_forward.raw_copy() + motion.local_joint_positions = np.concatenate([walk_forward.local_joint_positions[:last_frame_index], + run_forward.local_joint_positions[start_frame_indx:]], + axis=0) + motion.local_joint_rotations = np.concatenate([walk_forward.local_joint_rotations[:last_frame_index], + run_forward.local_joint_rotations[start_frame_indx:]], + axis=0) + + translation, orientation = motion.batch_forward_kinematics() + task = ShowBVHUpdate(viewer, motion.joint_name, translation, orientation) + viewer.addTask(task.update) + pass + + +def main(): + viewer = SimpleViewer() + + part1_key_framing(viewer, 10, 10) + # part1_key_framing(viewer, 10, 5) + # part1_key_framing(viewer, 10, 20) + # part1_key_framing(viewer, 10, 30) + # part2_concatenate(viewer, between_frames=8, do_interp=False) + # part2_concatenate(viewer, between_frames=8) + viewer.run() + + +if __name__ == '__main__': + main()