hier2x3d.pl

#!/bin/perl

# Genrerate HAnim humanoid from hierarchy

my @path = ();
my $cur = 0;
$nxt = 0;
my %joints = {};
my %sites = {};
my %alias = {};
my $parents = {};
my $site = "";
my %siteid = ();
my %listedSites = ();


my $trailing_joints = "";
my $trailing_segments = "";
my $trailing_sites = "";

sub uniq {
    my %seen;
    grep !$seen{$_}++, @_;
}

open(FEATURE, "<./standards/B.2.txt") or die "Cannot open  ./standards/B.2.txt\n";

while(<FEATURE>) {
	chomp;
	if ($_ =~ /[^<>]*<tr>[^<>]*<td>([^<>]*)<\/td>[^<>]*<td>([^<>]*)<\/td>[^<>]*<td>([^<>]*)<\/td>[^<>]*<td>([^<>]*)<\/td>[^<>]*<td>([^<>]*)<\/td>[^<>]*<\/tr>[^<>]*/) {
		# print $2."\t|".$5."\n";
		my $id = $1;
		my $site = $2;
		my $site_alias = $5;
		$id =~ s/^\s+//;
		$id =~ s/\s+$//;
		$site =~ s/^\s+//;
		$site =~ s/\s+$//;
		$site_alias =~ s/^\s+//;
		$site_alias =~ s/\s+$//;
		# print STDERR "|$site|$id|$site_alias|\n";
		$alias{$site_alias} = $site;
		$siteid{$site} = $id;
		$siteid{$site_alias} = $id;
		# print "Alias $site_alias\n";
	}
}

close(FEATURE);

sub printXML {
	my($prev) = @_;  # $prev is $child
	$prev->{line} =~ /([ |]*)(.*) : (.*)/;
	my $parent_indent = length($1);
	my $parent_joint = $2;
	my $parent_segment = $3;
	my $nxt = length($1);
	# print "$1$2 : $3\n";
	my $cur = @path[@path-1];
	while ($nxt < $cur) {
		$cur = pop @path;
	}

	undef ($htrans);
	if ($parent_joint eq "l_talocrural") {
		$htrans =  "<Transform scale='0.15 0.15 0.15' translation='0.08 0.06 -0.025' rotation='1 0 0 -1.57'> <!-- Transform left foot -->\n";
		$htrans .= "<Transform> <!-- Empty Transform left foot -->\n";
		$dopaw = 1;
	} elsif ($parent_joint eq "r_talocrural") {
		$htrans = "<Transform scale='0.15 0.15 0.15' translation='-0.05 0.06 -0.025' rotation='1 0 0 -1.57'><!-- Transform right foot -->\n";
		$htrans .= "<Transform> <!-- Empty Transform right foot -->\n";
		$dopaw = 1;
	} elsif ($parent_joint eq "l_radiocarpal") {
		$htrans = "<Transform scale='0.2 0.2 0.2' translation='0.20 0.85 -0.05' rotation='0 0 1 -3.14'> <!-- Transform left hand -->\n";
		$htrans .= "<Transform rotation='0 1 0 -1.57'> <!-- Transform left hand -->\n";
		$dopaw = 1;
	} elsif ($parent_joint eq "r_radiocarpal") {
		$htrans = "<Transform scale='0.2 0.2 0.2' translation='-0.20 0.85 -0.05' rotation='0 0 1 -3.14'> <!-- Transform right hand -->\n";
		$htrans .= "<Transform rotation='0 1 0 1.57'> <!-- Transform right hand -->\n";
		$dopaw = 1;
	} else {
		$dopaw = 0;
	}

	{


		$trailing_joints .= "<HAnimJoint USE='hanim_".$parent_joint."' containerField='joints'/>\n";
		print OUTPUT " " x $nxt."<HAnimJoint DEF='hanim_".$parent_joint."' name='".$parent_joint."'";
		if ($nxt <= 1) {
			print OUTPUT " " x $nxt." containerField='skeleton'"
		}
		if ($joints{$parent_joint} ne "") {
			$cenpj = $joints{$parent_joint};
			print OUTPUT " center='".$cenpj."'";
		} else {
			#  $cenpj = "0 1 0";
		}
		print OUTPUT ">\n";
		my($first_segment) = 0;
		foreach my $ch (@{$prev->{children}}) {   # go through child segments

			$prev->{line} =~ /([ |]*)(.*) : (.*)/; # parent joint
			$parent_indent = length($1);
			$parent_joint = $2;
			$parent_segment = $3;
			$parent_segment =~ s/^\s*(\S*)\s*$/$1/;

			$ch->{line} =~ /([ |]*)(.*) : (.*)/; # child joint
			$child_indent = length($1);
			$child_joint = $2;
			$child_segment = $3;
			$child_segment =~ s/^\s*(\S*)\s*$/$1/;

			$first_segment++;
			if ($first_segment == 1) {
				$trailing_segments .= "<HAnimSegment USE='hanim_".$parent_segment."' containerField='segments'/>\n";
				print OUTPUT " " x ($nxt+2)."<HAnimSegment DEF='hanim_".$parent_segment."' name='".$parent_segment."'>\n";
				if ($cenpj) {
					if ($dopaw == 1) {
						print OUTPUT " " x ($nxt + 3)."$htrans\n"
					} else {
						print OUTPUT " " x ($nxt + 3)."<Transform translation='".$cenpj."'>\n";
						print OUTPUT " " x ($nxt + 3)."<Transform> <!-- Empty Transform -->\n";
					}
					print OUTPUT " " x ($nxt + 4)."<Shape USE='HAnimJointShape'/>\n";
					print OUTPUT " " x ($nxt + 3)."</Transform>\n";
					print OUTPUT " " x ($nxt + 3)."</Transform>\n";
				}
			}

			if ($joints{$child_joint} ne "") {
				$cencj = $joints{$child_joint};
			} else {
				#  $cencj = "0 1 0";
			}
			$points = $joints{$parent_joint}." ".$cencj;
			if ($points =~ /^ /) {
				$verts = 1;
			} else {
				$verts = 2;
			}
			print OUTPUT " " x ($nxt + 3)."<Shape>\n";
			print OUTPUT " " x ($nxt + 4)."<LineSet vertexCount='2'>\n";
			print OUTPUT " " x ($nxt + 5)."<Coordinate point='".$points."'/> <!-- from $parent_joint to $child_joint vertices $verts-->\n";
			print OUTPUT " " x ($nxt + 5)."<ColorRGBA USE='HAnimSegmentLineColorRGBA'/>\n";
			print OUTPUT " " x ($nxt + 4)."</LineSet>\n";
			print OUTPUT " " x ($nxt + 3)."</Shape>\n";
			&listSites($parent_segment, $nxt);
		}
		if ($first_segment > 0) {
			print OUTPUT " " x ($nxt + 2)."</HAnimSegment>\n";
		}
		foreach my $jnt (@{$prev->{children}}) {   # go through child joints
			&printXML($jnt);
		}
		print OUTPUT " " x $nxt."</HAnimJoint>\n";
	}
	if ($nxt >= $cur) {
		push @path, $nxt;
	}
}

sub listSites() {
	local($segment, $nxt) = @_;
	foreach my $site (&uniq(sort keys %parents)) {
		my $suffix = "";
		if ($parents{$site} eq $segment) { # is the parent of the site the current segment?
			if ($site =~ /distal_phalanx/) {
				$suffix = "_tip";
			} elsif ($site =~ /tongue/) {
				$suffix = "_tip";
			} elsif ($site =~ /eye/) {
				$suffix = "_tip";
#			} elsif ($site =~ /axilla_distal/) {
#				$suffix = "_pt";
#			} else {
#				# $suffix = "_pt";
#				$suffix = "";
			}
			if (not $listedSites{$site.$suffix}) {
				$listedSites{$site.$suffix} = 1;
				print OUTPUT " " x ($nxt+3)."<HAnimSite DEF='hanim_".$site.$suffix."' name='".$site.$suffix."'";
				if ($sites{$site} ne "") {
					print OUTPUT " translation='".$sites{$site}."'";
				} else {
					#  print OUTPUT " translation='0 1 0'";
				}
				print OUTPUT ">\n";
				print OUTPUT " " x ($nxt+4)."<TouchSensor description='HAnimSite ".$siteid{$site.$suffix}." ".$site.$suffix."'/>\n";
				print OUTPUT " " x ($nxt+4)."<Shape USE='HAnimSiteShape'/>\n";
				print OUTPUT " " x ($nxt+4)."<Billboard>\n";
				print OUTPUT " " x ($nxt+5)."<Shape>\n";
                            	print OUTPUT " " x ($nxt+6)."<Text string='\"$siteid{$site.$suffix}\"'>\n";
                            	print OUTPUT " " x ($nxt+7)."<FontStyle size='0.035'/>\n";
                            	print OUTPUT " " x ($nxt+6)."</Text>\n";
                        	print OUTPUT " " x ($nxt+5)."</Shape>\n";
				print OUTPUT " " x ($nxt+4)."</Billboard>\n";

				print OUTPUT " " x ($nxt+3)."</HAnimSite>\n";
				$trailing_sites .= "<HAnimSite USE='hanim_".$site.$suffix."' containerField='sites'/>\n";
			}
		}
	}
}
open(TABLE, "sh sed.sh|");

while(<TABLE>) {
	chomp;
	$joint = $_;
	$center = <TABLE>;
	chomp $center;
	$joints{$joint} = $center;
}

foreach my $joint (sort keys %joints) {
	# print "TABLE ".$joint." ".$joints{$joint}."\n";
}

close(TABLE);

open(SITETABLE, "sh sitesed.sh|");

while(<SITETABLE>) {
	chomp;
	$site = $_;
	$translation = <SITETABLE>;
	chomp $translation;
	$sites{$site} = $translation;

	if ($alias{$site}) {
		# print "Found ".%alias{$site}." ".$translation."|\n";
		$sites{%alias{$site}} = $translation;
	} else {
		# print "No alias found for ".$site."\n";
	}
}
close(SITETABLE);

foreach my $site (sort keys %sites) {
	# print "SITE ".$site." ".$sites{$site}."\n";
}


open(SITESEG, "<./standards/4.7.txt") or die "Cannot open ./standards/4.7.txt\n";

$col = 0;
@sites = ();

$LOA = $ARGV[2];

# LOA-4 maps to column 2
# LOA-3 maps to column 3
# LOA-2 maps to column 4
# LOA-1 maps to column 5
# LOA-0 maps to column 6

$loacol = 6 - $LOA;

while (<SITESEG>) {
	chomp;
	$line = $_;
	$line =~ s/[ \t]*([^ \t]*)[ \t]*/$1/e;
	# print $line."\n";
	if ($line eq "</table>") {
		break;
	} elsif ($line eq "<tr>") { # start a row
		$col = 0;
	} elsif ($line eq "</tr>") { # end a row
	} elsif ($line =~ /<td>(.*)<\/td>/) {
		$value = $1;
		if ($col == 0) {
			$row = $1;
			@sites[$row] = ();
			# print $row;
		} elsif ($col == 1) {
			@row = @sites[$row];
			@row[$col] = $value;
			# print " ".$value;
			$site = $value;  # site
		} elsif ($col == $loacol)  {
			@row = @sites[$row];
			@row[$col] = $value;
			# print " ".$value;
			my $segment = $value;
			$parents{$site} = $segment; # parent of site is segment
		}
		if ($col == 6)  {
			# print "\n";
		}
		$col++;
	}
}

# foreach my $site (keys %parents) {
# print $parents{$site}." ".$site."\n";
# }

close(SITESEG);

sub readHierarchy {
	$input = $ARGV[0];
	print "$input\n";
	open (HIER, "<$input");
	my $prev = {};
	$prev->{children} = ();
	$prev->{indent} = -1;
	foreach (<HIER>) {
		$line = $_;
		chomp $line;
		$line =~ /([ |]*)(.*) : (.*)/;
		$indent = length($1);
		$joint = $2;
		$segment = $3;
		$obj = {};
		$obj->{line} = $line;
		$obj->{indent} = $indent;
		$obj->{joint} = $joint;
		$obj->{segment} = $segment;
		$obj->{children} = ();
		# print "$line\n";
		if ($obj->{indent} > $prev->{indent}) {
			$obj->{parent} = $prev;
			# print "$obj->{joint} parent 1 is $prev->{joint}\n";
		} elsif ($obj->{indent} == $prev->{indent}) {

			$obj->{parent} = $prev->{parent};
			# print "$obj->{joint} parent 2 is $prev->{parent}->{joint}\n";
		} else {
			while ($obj->{indent} < $prev->{indent}) {
				$prev = $prev->{parent};
			}
			$obj->{parent} = $prev->{parent};
			# print "$obj->{joint} parent 3 is $prev->{joint}\n";
		}
		push @{$obj->{parent}->{children}}, $obj;
		$prev = $obj;
	}
	while (0 < $prev->{indent}) {
		$prev = $prev->{parent};
	}
	close(HIER);
	return $prev;
}

$results = $ARGV[1];
print "$results\n";
open(OUTPUT, ">$results");

print OUTPUT << "HUMANHEADER";
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 4.0//EN" "https://www.web3d.org/specifications/x3d-4.0.dtd">
<X3D profile="Immersive" version="4.0" xmlns:xsd="http://www.w3.org/2001/XMLSchema-instance" xsd:noNamespaceSchemaLocation="https://www.web3d.org/specifications/x3d-4.0.xsd">
<head>
  <component level='1' name='HAnim'/>
  <meta content='JohnBoy.x3d' name='title'/>
  <meta name='identifier' content='http://www.web3d.org/x3d/content/examples/HumanoidAnimation/JohnBoy.x3d'/>
  <meta name='description' content='An attempt at a standard LOA-4 skeleton'/>
  <meta name='generator' content='h2.pl'/>
  <meta name='modified' content="14 Jan 2023"/>
  <meta content='John Carlson' name='creator'/>
  <meta content='9 November 2020' name='created'/>
  <meta content='../license.html' name='license'/>
</head>
<Scene>

  <Transform scale='1 1 1'> <!-- DEF for markerfor XYZ axes -->
   <Shape DEF='AxisLinesShape'> <!-- RGB lines showing XYZ axes -->
    <IndexedLineSet colorIndex='0 1 2' colorPerVertex='false' coordIndex='0 1 -1 0 2 -1 0 3 -1'>
     <Coordinate point='0 0 0 0.1 0 0 0 0.1 0 0 0 0.1'/>
     <Color color='1 0 0 0 0.6 0 0 0 1'/>
    </IndexedLineSet>
   </Shape>
  </Transform>
 
<Group> <!-- DEFS for markers of skeleton joints, segments, and sites --> 
 <Transform translation='0 0 0' scale='1 1 1'>
  <Transform translation='0 2.1 0' scale='1 1 1'>
   <Shape DEF='HAnimJointShape'>
    <Sphere radius='0.02' />
     <Appearance>
      <Material DEF='HAnimJointMaterial' diffuseColor='0 0 0' transparency='0'/>
       </Appearance>
   </Shape>
  </Transform>
  <Transform translation='0 2.05 0' scale='1 1 1'>
   <Shape DEF='HAnimSegmentLine'>
    <LineSet vertexCount='2'>
     <ColorRGBA DEF='HAnimSegmentLineColorRGBA' color='1 1 0 0 1 1 0 0'/>
      <Coordinate point='-0.05 0 0 0.05 0 0'/>
       </LineSet>
    </Shape>
  </Transform>
  <Transform translation='0 2.1 0' scale='1 1 1'>
   <Shape DEF='HAnimSiteShape'>
    <IndexedFaceSet DEF='DiamondIFS' creaseAngle='0.5' solid='false' coordIndex='0 1 2 -1 0 2 3 -1 0 3 4 -1 0 4 1 -1 5 2 1 -1 5 3 2 -1 5 4 3 -1 5 1 4 -1'>
     <ColorRGBA DEF='HAnimSiteColorRGBA' color='1 1 0 1, 1 1 0 0.1, 1 1 0 1, 1 1 0 0.1, 1 1 0 1, 1 1 0 0.1'/>
     <Coordinate point='0 0.01 0 -0.01 0 0 0 0 0.01 0.01 0 0 0 0 -0.01 0 -0.01 0'/>
    </IndexedFaceSet>
     <Appearance>
      <Material diffuseColor='1 1 1' transparency='1'/>
     </Appearance>
   </Shape>
  </Transform>
 </Transform>
</Group> 

<NavigationInfo speed='1.5' type='"EXAMINE" "ANY"'/>

<Viewpoint position='0 1 3' centerOfRotation='0 1 0' description='default'/> 

<HAnimHumanoid DEF='hanim_HAnim'  info='"humanoidVersion=2.0"' name='HAnim' scale='1 1 1' translation='0 0 0' version='2.0'>
          <!-- <LOD containerField='skin'> (Switch whichChoice='0' and LOD parents each already work in view3dscene) -->
          <Shape DEF='SkinShape' containerField='skin'>
            <IndexedFaceSet coordIndex='0 9 5 -1 0 7 9 -1 0 5 1 -1 1 5 2 -1 1 3 7 -1 2 4 3 -1 0 1 7 -1 1 2 3 -1 5 6 2 -1 7 3 8 -1 6 4 2 -1 3 4 8 -1 9 6 5 -1 9 7 8 -1 4 6 10 -1 4 10 12 -1 4 12 8 -1 10 11 12 -1 9 75 24 -1 9 24 74 -1 9 8 75 -1 9 74 6 -1 10 6 74 -1 12 75 8 -1 74 24 29 -1 24 77 29 -1 10 74 29 -1 77 32 29 -1 32 78 29 -1 78 30 29 -1 30 10 29 -1 41 24 75 -1 41 75 12 -1 41 12 42 -1 41 42 80 -1 41 80 44 -1 41 44 79 -1 41 79 24 -1 81 24 79 -1 81 77 24 -1 81 25 77 -1 81 79 25 -1 25 79 44 -1 25 32 77 -1 25 83 32 -1 25 26 83 -1 25 27 26 -1 25 84 27 -1 25 44 84 -1 11 10 30 -1 11 30 13 -1 11 13 15 -1 11 15 14 -1 11 14 42 -1 11 42 12 -1 15 13 16 -1 15 18 14 -1 15 16 76 -1 15 76 18 -1 76 16 17 -1 76 17 82 -1 76 82 19 -1 76 19 18 -1 22 18 19 -1 22 87 18 -1 22 27 84 -1 22 84 87 -1 87 84 85 -1 85 84 44 -1 85 42 14 -1 87 14 18 -1 87 85 14 -1 20 83 26 -1 20 17 16 -1 20 16 88 -1 20 88 83 -1 88 16 13 -1 88 13 86 -1 88 86 83 -1 86 13 30 -1 86 32 83 -1 23 89 22 -1 89 27 22 -1 89 91 27 -1 91 26 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creaseAngle='3.1'>
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            </IndexedFaceSet>
            <Appearance DEF='SkinAppearance'>
              <ImageTexture DEF='zBlueSpiralBkg2' description='Blue Spiral Pattern' url='"../data/zBlueSpiralBkg2.gif" "zBlueSpiralBkg2.gif" "https://www.web3d.org/x3d/content/examples/HumanoidAnimation/Skin/zBlueSpiralBkg2.gif"'/>
              <Material DEF='SkinMaterial' ambientIntensity='0.6' diffuseColor='1 1 1' shininess='0.6' transparency='1'/>
            </Appearance>
          </Shape>
          <!-- </LOD> -->
          <Coordinate USE='TheSkinCoord' containerField='skinCoord'/>
HUMANHEADER
my $prev = &readHierarchy();
&printXML($prev);
print OUTPUT $trailing_joints;
print OUTPUT $trailing_segments;
print OUTPUT $trailing_sites;
print OUTPUT << "HUMANFOOTER";
</HAnimHumanoid>
</Scene>
</X3D>
HUMANFOOTER
close(OUTPUT);

sub printNode {
	my($top, $indent) = shift @_;
	print OUTPUT $top->{line}."\n";
	foreach my $child (@{$top->{children}}) {
		&printNode($child);
	}
}

# &printNode($prev);