/*
|
* BVHReader.java
|
* Created on 12. September 2006, 21:54
|
*/
|
package mocap.reader;
|
|
import java.io.BufferedReader;
|
import java.io.File;
|
import java.io.FileReader;
|
import java.io.IOException;
|
import java.util.ArrayList;
|
import java.util.List;
|
|
import javax.vecmath.Vector3d;
|
|
import mocap.figure.AnimData;
|
import mocap.figure.Bone;
|
import mocap.figure.BoneGeom;
|
|
/**
|
* A BVH file contains first the skeleton hierarchy and then the animation data.
|
*
|
* See here for a very good summary:
|
*
|
* http://www.cs.wisc.edu/graphics/Courses/cs-838-1999/Jeff/BVH.html
|
*
|
* @author Michael Kipp
|
*/
|
public class BVHReader implements java.io.Serializable
|
{
|
|
static final long serialVersionUID = -2407211874494009862L;
|
transient List<BVHJoint> _jointList = new ArrayList<BVHJoint>(); // sequential list of joints
|
private double _scale = 1; // scaling factor used for bone length and position
|
private int _motionVectorLength;
|
public int _indexCounter;
|
private double _maxRootDistance = 0;
|
private double _targetHeight = 5;
|
double cylinderradius = 0.5; // switch to 0.1 for limbs
|
|
/**
|
* Stores results.
|
*/
|
public class BVHResult implements java.io.Serializable
|
{
|
|
static final long serialVersionUID = 1258710093484653359L; //9114247830379077622L;
|
transient public Bone skeleton;
|
transient public BVHJoint joints;
|
public AnimData animation;
|
transient public BVHReader reader;
|
}
|
|
/**
|
* Intermediate representation for 1st pass.
|
*/
|
abstract class BVHNode implements java.io.Serializable
|
{
|
|
Vector3d offset; // joint position (= dir/length of parent's bone)
|
Vector3d rootOffset = new Vector3d(); // position in root space (for computing overall size)
|
}
|
|
class BVHEndSite extends BVHNode
|
{
|
}
|
|
public class BVHJoint extends BVHNode
|
{
|
// public BVHJoint()
|
// {
|
// }
|
|
String name;
|
List<BVHJoint> subjoints = new ArrayList<BVHJoint>();
|
BVHEndSite endSite = null;
|
int[] dof = new int[0];
|
boolean isRoot = false;
|
|
public double findMax(double max)
|
{
|
double l = offset.length();
|
for (BVHJoint j : subjoints)
|
{
|
l = j.findMax(l);
|
}
|
return l > max ? l : max;
|
}
|
|
void scale(double scale)
|
{
|
|
offset.scale(scale);
|
for (BVHJoint j : subjoints)
|
{
|
j.scale(scale);
|
}
|
if (endSite != null)
|
{
|
endSite.offset.scale(scale);
|
}
|
// System.out.println("scale " + name + ": " + offset);
|
}
|
}
|
|
/**
|
*
|
* @param targetHeight
|
* The height that the skeleton should have (automatic scaling). Specify -1 if you do
|
* not want to rescale.
|
*/
|
public BVHReader(double targetHeight)
|
{
|
// _scale = scale;
|
_targetHeight = targetHeight;
|
_indexCounter = 0;
|
}
|
|
/**
|
* Reads BVH file and returns skeleton and motion data.
|
*
|
* @throws java.io.IOException
|
*/
|
public BVHResult readFile(File file) throws IOException
|
{
|
BVHResult res = new BVHResult();
|
String line;
|
BufferedReader in = new BufferedReader(new FileReader(file));
|
while ((line = in.readLine()) != null)
|
{
|
line = line.trim();
|
if (line.startsWith("HIERARCHY"))
|
{
|
_maxRootDistance = 0;
|
BVHJoint r = readHierarchy(in);
|
|
// System.out.println("### max = " + _maxRootDistance);
|
|
// scale skeleton to target height
|
if (_targetHeight > -1)
|
{
|
double s = _targetHeight / (2 * _maxRootDistance);
|
// System.out.println("### scaling: " + s);
|
r.scale(s);
|
_scale = s;
|
}
|
|
// 2nd pass through skeleton
|
//res.skeleton = processJoint(r, null, r.findMax(0) / 15);
|
res.joints = r;
|
res.reader = this;
|
}
|
if (line.startsWith("MOTION"))
|
{
|
res.animation = readMotion(in, res.skeleton);
|
}
|
}
|
|
res.animation.scale = (float)_scale;
|
|
return res;
|
}
|
|
public double getScale()
|
{
|
return _scale;
|
}
|
|
/**
|
* 2nd pass for constructing the skeleton (recursively).
|
*/
|
public Bone processJoint(BVHJoint n, Bone parent, double maxRadius, boolean joints)
|
{
|
double cylrad = cylinderradius;
|
|
Bone b = new Bone(n.name, _indexCounter++, n.dof);
|
b.setRotationType(Bone.MOVING_AXES);
|
if (parent != null)
|
{
|
b.setParent(parent);
|
// EXTRA JOINTS
|
// parent.attachGeom(n.offset, maxRadius, joints);
|
|
b.setBaseTranslation(n.offset);
|
}
|
else
|
// Not for hip because the height is already factored in the mocap data.
|
b.setBaseTranslation(new Vector3d());
|
|
// for horse
|
// if (n.name.equals("tail1"))
|
{
|
cylinderradius = 0.1;
|
}
|
|
if (n.name.equals("rThigh")
|
|| n.name.equals("lThigh"))
|
{
|
cylinderradius = 0.1;
|
}
|
if (n.name.equals("LeftUpLeg")
|
|| n.name.equals("RightUpLeg"))
|
{
|
cylinderradius = 0.1;
|
}
|
if (n.name.equals("rShldr")
|
|| n.name.equals("lShldr"))
|
{
|
cylinderradius = 0.1;
|
}
|
if (n.name.equals("LeftCollar")
|
|| n.name.equals("RightCollar"))
|
{
|
cylinderradius = 0.1;
|
}
|
if (n.name.equals("LeftHip")
|
|| n.name.equals("RightHip"))
|
{
|
cylinderradius = 0.1;
|
}
|
if (n.name.equals("head"))
|
{
|
cylinderradius = 0.1;
|
joints = false;
|
}
|
if (n.name.equals("rShin")
|
|| n.name.equals("lShin"))
|
{
|
joints = false;
|
}
|
if (n.name.equals("LeftLowLeg")
|
|| n.name.equals("RightLowLeg"))
|
{
|
cylinderradius = 0.1;
|
}
|
if (n.name.equals("rForeArm")
|
|| n.name.equals("lForeArm"))
|
{
|
joints = false;
|
}
|
if (n.name.equals("LeftForeArm")
|
|| n.name.equals("RightForeArm"))
|
{
|
joints = false;
|
}
|
|
BoneGeom.CYLINDER_RADIUS = this.cylinderradius;
|
|
// create children
|
Bone[] ch = new Bone[n.subjoints.size()];
|
int i = 0;
|
for (BVHNode c : n.subjoints)
|
{
|
if (c instanceof BVHJoint)
|
{
|
b.attachGeom(c.offset, maxRadius, joints);
|
ch[i++] = processJoint((BVHJoint) c, b, maxRadius, joints);
|
}
|
}
|
b.setChildren(ch);
|
|
if (n.endSite != null)
|
{
|
b.attachGeom(n.endSite.offset, maxRadius, joints);
|
}
|
|
cylinderradius = cylrad;
|
BoneGeom.CYLINDER_RADIUS = this.cylinderradius;
|
|
return b;
|
}
|
|
/**
|
* Starts 1st pass to construct the skeleton.
|
*/
|
private BVHJoint readHierarchy(BufferedReader in) throws IOException
|
{
|
String line;
|
while ((line = in.readLine()) != null)
|
{
|
line = line.trim();
|
if (line.startsWith("ROOT"))
|
{
|
BVHJoint r = readJoint(in, null, line.substring(line.indexOf(' ') + 1));
|
r.isRoot = true;
|
return r;
|
}
|
break;
|
}
|
return null;
|
}
|
|
/**
|
* 1st pass joint processing.
|
*/
|
private BVHJoint readJoint(BufferedReader in, BVHJoint parent, String name)
|
throws IOException
|
{
|
BVHJoint n = new BVHJoint();
|
_jointList.add(n);
|
n.name = name;
|
|
// do not count root location
|
if (parent != null)
|
{
|
n.rootOffset.set(parent.offset);
|
}
|
String line;
|
while ((line = in.readLine()) != null)
|
{
|
line = line.trim();
|
if (line.startsWith("JOINT"))
|
{
|
BVHJoint sub = readJoint(in, n, line.substring(line.indexOf(' ') + 1));
|
n.subjoints.add(sub);
|
} else if (line.startsWith("OFFSET"))
|
{
|
n.offset = readVector(line.substring(6).trim());
|
n.offset.scale(_scale);
|
n.rootOffset.add(n.offset);
|
} else if (line.startsWith("CHANNELS"))
|
{
|
n.dof = readChannels(line.substring(8).trim());
|
} else if (line.startsWith("}"))
|
{
|
break;
|
} else if (line.startsWith("End Site"))
|
{
|
n.endSite = readEndSite(in);
|
n.endSite.rootOffset.set(n.rootOffset);
|
n.endSite.rootOffset.add(n.endSite.offset);
|
_maxRootDistance = Math.max(_maxRootDistance,
|
n.endSite.rootOffset.length());
|
}
|
}
|
return n;
|
}
|
|
private Vector3d readVector(String str)
|
{
|
String[] arr = str.trim().split("\\s+");
|
return new Vector3d(Double.parseDouble(arr[0]), Double.parseDouble(arr[1]), Double.parseDouble(arr[2]));
|
}
|
|
private int[] readChannels(String str)
|
{
|
String[] tok = str.split(" ");
|
int num = Integer.parseInt(tok[0]);
|
int[] res = new int[num];
|
for (int i = 0; i < num; i++)
|
{
|
res[i] = getDOF(tok[i + 1]);
|
}
|
return res;
|
}
|
|
private int getDOF(String w)
|
{
|
if (w.equals("Xrotation"))
|
{
|
return Bone.RX;
|
} else if (w.equals("Yrotation"))
|
{
|
return Bone.RY;
|
} else if (w.equals("Zrotation"))
|
{
|
return Bone.RZ;
|
} else if (w.equals("Xposition"))
|
{
|
return Bone.TX;
|
} else if (w.equals("Yposition"))
|
{
|
return Bone.TY;
|
} else if (w.equals("Zposition"))
|
{
|
return Bone.TZ;
|
}
|
return -1;
|
}
|
|
private BVHEndSite readEndSite(BufferedReader in) throws IOException
|
{
|
BVHEndSite n = new BVHEndSite();
|
String line;
|
while ((line = in.readLine()) != null)
|
{
|
line = line.trim();
|
if (line.startsWith("OFFSET"))
|
{
|
n.offset = readVector(line.substring(6));
|
n.offset.scale(_scale);
|
} else if (line.startsWith("}"))
|
{
|
return n;
|
}
|
}
|
return n;
|
}
|
|
static public int EXTENSION = 64; // 128;
|
public int mocapextension = 1; // for long motions usable for crowds
|
|
/**
|
* Reads motion (one line contains one frame) and stores the data in the respective Bone
|
* objects.
|
*/
|
private AnimData readMotion(BufferedReader in, Bone root)
|
throws IOException
|
{
|
computeMotionVectorLength();
|
float[][] motion = new float[_jointList.size()][]; // 1st index = joint, 2nd = data
|
AnimData data = new AnimData(_jointList.size());
|
String line;
|
int framecount = 0;
|
while ((line = in.readLine()) != null)
|
{
|
line = line.trim();
|
if (line.startsWith("Frames:"))
|
{
|
int frames = Integer.parseInt(line.substring(7).trim());
|
if (frames < EXTENSION)
|
{
|
mocapextension = EXTENSION; // warning: 64 is bigger than 45 for motion fadein
|
}
|
data.setNumFrames(frames * mocapextension); // EXTEND MOCAP
|
for (int i = 0; i < _jointList.size(); i++)
|
{
|
motion[i] = new float[data.getNumFrames() * _jointList.get(i).dof.length];
|
}
|
} else if (line.startsWith("Frame Time:"))
|
{
|
float frametime = Float.parseFloat(line.substring(11).trim());
|
data.setFps(1 / frametime);
|
} else if (line.length() > 0)
|
{
|
// motion line
|
readMotionLine(motion, line, framecount++); //, data.getNumFrames()/mocapextension);
|
}
|
}
|
if (mocapextension != 1)
|
extendMotion(motion, data.getNumFrames() / mocapextension);
|
else
|
{
|
// ShiftData(motion, data.getNumFrames(), 5); // skip "T"
|
// data.setNumFrames(data.getNumFrames() - 5);
|
}
|
for (int i = 0; i < motion.length; i++)
|
{
|
data.putBoneData(i, motion[i]);
|
}
|
return data;
|
}
|
|
private void readMotionLine(float[][] motion, String line, int frame) //, int originalframes)
|
{
|
String[] tok = line.replaceAll("\\s+", " ").split(" ");
|
if (tok.length != _motionVectorLength)
|
{
|
System.out.println("ERROR! Incorrect motion vector length: "
|
+ (frame + 1) + "th frame, " + tok.length + " found, "
|
+ _motionVectorLength + " required.");
|
}
|
int pos = 0;
|
for (int i = 0; i < _jointList.size(); i++)
|
{
|
BVHJoint jnt = _jointList.get(i);
|
int dof = jnt.dof.length;
|
int motionindex = frame * dof;
|
for (int j = 0; j < dof; j++)
|
{
|
// distinguish special case of 3 translational values for root
|
double v = jnt.isRoot && j < 3 ? _scale
|
* Float.parseFloat(tok[pos + j].trim()) : (float) Math.toRadians(Float.parseFloat(tok[pos + j].trim()));
|
try
|
{
|
motion[i][motionindex + j] = (float) v;
|
// for (int copy=0; copy<mocapextension; copy++)
|
// {
|
// motion[i][copy*originalframes*dof + motionindex + j] = (float) v;
|
//
|
// if (jnt.isRoot && j < 3 && copy > 0)
|
// {
|
// v += motion[i][(copy-1)*originalframes*dof];
|
// }
|
// }
|
} catch (Exception e)
|
{
|
e.printStackTrace();
|
}
|
}
|
pos += dof;
|
}
|
}
|
|
int ClosestData(float[][] motion, int totalframes)
|
{
|
double closestmean = Float.MAX_VALUE;
|
int closestindex = totalframes;
|
|
for (int frame = totalframes; --frame >= totalframes/4; )
|
{
|
double mean = 0;
|
|
for (int i = 1; i < _jointList.size(); i++)
|
{
|
BVHJoint jnt = _jointList.get(i);
|
int dof = jnt.dof.length;
|
|
// july 2014 assert(dof == 3);
|
|
int beginoffset = 0; // 5;
|
|
int motionindex = frame * dof;
|
int beginindex = beginoffset * dof;
|
|
for (int j = 0; j < dof; j++)
|
{
|
double v = motion[i][motionindex + j];
|
double d = motion[i][beginindex + j];
|
|
double delta = d - v;
|
|
mean += delta*delta;
|
}
|
}
|
|
if (mean < closestmean)
|
{
|
closestmean = mean;
|
closestindex = frame;
|
}
|
}
|
|
return closestindex;
|
}
|
|
void ShiftData(float[][] motion, int totalframes, int beginoffset)
|
{
|
for (int frame = beginoffset; frame < totalframes; frame++)
|
{
|
for (int i = 0; i < _jointList.size(); i++)
|
{
|
BVHJoint jnt = _jointList.get(i);
|
int dof = jnt.dof.length;
|
|
// assert(dof == 3);
|
|
int motionindex = frame * dof;
|
int beginindex = (frame - beginoffset) * dof;
|
|
for (int j = 0; j < dof; j++)
|
{
|
motion[i][beginindex + j] = motion[i][motionindex + j];
|
}
|
}
|
}
|
}
|
|
private void extendMotion(float[][] motion, int totalframes)
|
{
|
int beginoffset = 5;
|
|
ShiftData(motion, totalframes, beginoffset); // skip "T"
|
|
totalframes -= beginoffset;
|
|
System.err.println("totalframes = " + totalframes);
|
|
totalframes = ClosestData(motion, totalframes);
|
|
System.err.println("ClosestData = " + totalframes);
|
|
for (int frame = 0; frame < totalframes; frame++)
|
{
|
for (int i = 0; i < _jointList.size(); i++)
|
{
|
BVHJoint jnt = _jointList.get(i);
|
int dof = jnt.dof.length;
|
|
int motionindex = frame * dof;
|
|
// if (dof == 3 && frame < beginoffset) // skip "T"
|
// {
|
// motion[i][motionindex] = motion[i][beginoffset*dof];
|
// motion[i][motionindex + 1] = motion[i][beginoffset*dof+1];
|
// motion[i][motionindex + 2] = motion[i][beginoffset*dof+2];
|
//
|
//// if (dof > 3)
|
//// {
|
//// motion[i][3] = motion[i][dof+3];
|
//// motion[i][4] = motion[i][dof+4];
|
//// motion[i][5] = motion[i][dof+5];
|
//// }
|
// }
|
|
for (int j = 0; j < dof; j++)
|
{
|
double v = motion[i][motionindex + j];
|
|
try
|
{
|
for (int copy = 1; copy < mocapextension * 4; copy++)
|
{
|
float offset = 0;
|
|
if (jnt.isRoot && j < 3)
|
{
|
v += motion[i][(totalframes - 1) * dof + j];
|
offset = motion[i][j];
|
}
|
|
motion[i][copy * totalframes * dof + motionindex + j] = (float) v - copy*offset;
|
}
|
} catch (Exception e)
|
{
|
//e.printStackTrace();
|
// extended out of bounds: OK
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* Computes number of values expected in each line of the MOTION part of the BVH file.
|
*/
|
private void computeMotionVectorLength()
|
{
|
_motionVectorLength = 0;
|
for (int i = 0; i < _jointList.size(); i++)
|
{
|
_motionVectorLength += _jointList.get(i).dof.length;
|
}
|
}
|
}
|
