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Last active May 13, 2022
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Motion capture animation recording in Panda3D
from panda3d.core import CharacterJoint, CharacterSlider, CharacterVertexSlider
from panda3d.core import AnimBundle, AnimGroup, AnimChannelScalarDynamic
from panda3d.core import AnimChannelMatrixXfmTable, AnimChannelScalarTable
from panda3d.core import PTA_float
class MotionCapture:
def __init__(self, actor, part_name="modelRoot", lod_name="lodRoot"):
self.part_bundle = actor.get_part_bundle(part_name, lod_name)
self.joint_tables = {}
self.slider_tables = {}
self.num_frames = 0
for joint in actor.get_joints(partName=part_name, lodName=lod_name):
if isinstance(joint, CharacterJoint):
self.joint_tables[joint] = [PTA_float(), PTA_float(), PTA_float(), PTA_float(), PTA_float(), PTA_float(), PTA_float(), PTA_float(), PTA_float(), PTA_float(), PTA_float(), PTA_float()]
elif isinstance(joint, CharacterSlider):
self.slider_tables[joint] = PTA_float()
def capture_frame(self):
self.part_bundle.force_update()
self.num_frames += 1
for joint, tables in self.joint_tables.items():
transform = joint.get_transform_state()
scale = transform.get_scale()
tables[0].push_back(scale.x)
tables[1].push_back(scale.y)
tables[2].push_back(scale.z)
shear = transform.get_shear()
tables[3].push_back(shear.x)
tables[4].push_back(shear.y)
tables[5].push_back(shear.z)
hpr = transform.get_hpr()
tables[6].push_back(hpr.x)
tables[7].push_back(hpr.y)
tables[8].push_back(hpr.z)
pos = transform.get_pos()
tables[ 9].push_back(pos.x)
tables[10].push_back(pos.y)
tables[11].push_back(pos.z)
for slider, table in self.slider_tables.items():
channel = slider.get_forced_channel()
if channel and isinstance(channel, AnimChannelScalarDynamic):
value_node = channel.value_node
if value_node:
value = value_node.get_transform().get_pos()[0]
else:
value = channel.value
else:
value = CharacterVertexSlider(slider).get_slider()
table.push_back(value)
def make_anim_bundle(self, name, fps):
bundle = AnimBundle(name, fps, self.num_frames)
for child in self.part_bundle.children:
self._make_anim_group(bundle, child)
return bundle
def _make_anim_group(self, parent, part_group):
joint_tables = self.joint_tables.get(part_group)
slider_table = self.slider_tables.get(part_group)
if joint_tables:
group = AnimChannelMatrixXfmTable(parent, part_group.name)
for i, table in enumerate(joint_tables):
group.set_table('ijkabchprxyz'[i], table)
elif slider_table:
group = AnimChannelScalarTable(parent, part_group.name)
group.set_table(slider_table)
else:
group = AnimGroup(parent, part_group.name)
for child in part_group.children:
self._make_anim_group(group, child)
from panda3d.core import *
from direct.actor.Actor import Actor
from direct.directbase import TestStart
from math import sin, pi
from mocap import MotionCapture
panda = Actor("panda-model.egg")
panda.reparent_to(base.render)
panda.set_scale(0.05)
panda.list_joints()
hips = panda.control_joint(None, "modelRoot", "Dummy_hips")
mocap = MotionCapture(panda)
# Capture the hips rotating
for i in range(100):
t = (i / 100.0) * pi * 2
hips.set_h(sin(t) * 45)
mocap.capture_frame()
# Release the joint so we will see our new animation on it
panda.release_joint("modelRoot", "Dummy_hips")
# Package it up in an animation and load it into the Actor
node = AnimBundleNode("twerk", mocap.make_anim_bundle("twerk", fps=48))
panda.load_anims({"twerk": NodePath(node)})
panda.loop("twerk")
base.cam.set_y(-100)
base.run()
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