/usr/lib/python2.7/dist-packages/collada/controller.py is in python-collada 0.4-2.
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# #
# THIS FILE IS PART OF THE pycollada LIBRARY SOURCE CODE. #
# USE, DISTRIBUTION AND REPRODUCTION OF THIS LIBRARY SOURCE IS #
# GOVERNED BY A BSD-STYLE SOURCE LICENSE INCLUDED WITH THIS SOURCE #
# IN 'COPYING'. PLEASE READ THESE TERMS BEFORE DISTRIBUTING. #
# #
# THE pycollada SOURCE CODE IS (C) COPYRIGHT 2011 #
# by Jeff Terrace and contributors #
# #
####################################################################
"""Contains objects representing controllers. Currently has partial
support for loading Skin and Morph. **This module is highly
experimental. More support will be added in version 0.4.**"""
import numpy
from collada import source
from collada.common import DaeObject, tag
from collada.common import DaeIncompleteError, DaeBrokenRefError, \
DaeMalformedError, DaeUnsupportedError
from collada.geometry import Geometry
from collada.util import checkSource
from collada.xmlutil import etree as ElementTree
class Controller(DaeObject):
"""Base controller class holding data from <controller> tags."""
def bind(self, matrix, materialnodebysymbol):
pass
@staticmethod
def load( collada, localscope, node ):
controller = node.find(tag('skin'))
if controller is None:
controller = node.find(tag('morph'))
if controller is None: raise DaeUnsupportedError('Unknown controller node')
sourcebyid = {}
sources = []
sourcenodes = node.findall('%s/%s'%(controller.tag, tag('source')))
for sourcenode in sourcenodes:
ch = source.Source.load(collada, {}, sourcenode)
sources.append(ch)
sourcebyid[ch.id] = ch
if controller.tag == tag('skin'):
return Skin.load(collada, sourcebyid, controller, node)
else:
return Morph.load(collada, sourcebyid, controller, node)
class BoundController( object ):
"""Base class for a controller bound to a transform matrix and materials mapping."""
class Skin(Controller):
"""Class containing data collada holds in the <skin> tag"""
def __init__(self, sourcebyid, bind_shape_matrix, joint_source, joint_matrix_source,
weight_source, weight_joint_source, vcounts, vertex_weight_index,
offsets, geometry, controller_node=None, skin_node=None):
"""Create a skin.
:Parameters:
sourceById
A dict mapping id's to a collada source
bind_shape_matrix
A numpy array of floats (pre-shape)
joint_source
The string id for the joint source
joint_matrix_source
The string id for the joint matrix source
weight_source
The string id for the weight source
weight_joint_source
The string id for the joint source of weights
vcounts
A list with the number of influences on each vertex
vertex_weight_index
An array with the indexes as they come from <v> array
offsets
A list with the offsets in the weight index array for each source
in (joint, weight)
geometry
The source geometry this should be applied to (geometry.Geometry)
controller_node
XML node of the <controller> tag which is the parent of this
skin_node
XML node of the <skin> tag if this is from there
"""
self.sourcebyid = sourcebyid
self.bind_shape_matrix = bind_shape_matrix
self.joint_source = joint_source
self.joint_matrix_source = joint_matrix_source
self.weight_source = weight_source
self.weight_joint_source = weight_joint_source
self.vcounts = vcounts
self.vertex_weight_index = vertex_weight_index
self.offsets = offsets
self.geometry = geometry
self.controller_node = controller_node
self.skin_node = skin_node
self.xmlnode = controller_node
if not type(self.geometry) is Geometry:
raise DaeMalformedError('Invalid reference geometry in skin')
self.id = controller_node.get('id')
if self.id is None:
raise DaeMalformedError('Controller node requires an ID')
self.nindices = max(self.offsets) + 1
if len(bind_shape_matrix) != 16:
raise DaeMalformedError('Corrupted bind shape matrix in skin')
self.bind_shape_matrix.shape = (4,4)
if not(joint_source in sourcebyid and joint_matrix_source in sourcebyid):
raise DaeBrokenRefError("Input in joints not found")
if not(type(sourcebyid[joint_source]) is source.NameSource or type(sourcebyid[joint_source]) is source.IDRefSource):
raise DaeIncompleteError("Could not find joint name input for skin")
if not type(sourcebyid[joint_matrix_source]) is source.FloatSource:
raise DaeIncompleteError("Could not find joint matrix source for skin")
joint_names = [j for j in sourcebyid[joint_source]]
joint_matrices = sourcebyid[joint_matrix_source].data
joint_matrices.shape = (-1,4,4)
if len(joint_names) != len(joint_matrices):
raise DaeMalformedError("Skin joint and matrix inputs must be same length")
self.joint_matrices = {}
for n,m in zip(joint_names, joint_matrices):
self.joint_matrices[n] = m
if not(weight_source in sourcebyid and weight_joint_source in sourcebyid):
raise DaeBrokenRefError("Weights input in joints not found")
if not type(sourcebyid[weight_source]) is source.FloatSource:
raise DaeIncompleteError("Could not find weight inputs for skin")
if not(type(sourcebyid[weight_joint_source]) is source.NameSource or type(sourcebyid[weight_joint_source]) is source.IDRefSource):
raise DaeIncompleteError("Could not find weight joint source input for skin")
self.weights = sourcebyid[weight_source]
self.weight_joints = sourcebyid[weight_joint_source]
try:
newshape = []
at = 0
for ct in self.vcounts:
this_set = self.vertex_weight_index[self.nindices*at:self.nindices*(at+ct)]
this_set.shape = (ct, self.nindices)
newshape.append(numpy.array(this_set))
at+=ct
self.index = newshape
except:
raise DaeMalformedError('Corrupted vcounts or index in skin weights')
try:
self.joint_index = [influence[:, self.offsets[0]] for influence in self.index]
self.weight_index = [influence[:, self.offsets[1]] for influence in self.index]
except:
raise DaeMalformedError('Corrupted joint or weight index in skin')
self.max_joint_index = numpy.max( [numpy.max(joint) if len(joint) > 0 else 0 for joint in self.joint_index] )
self.max_weight_index = numpy.max( [numpy.max(weight) if len(weight) > 0 else 0 for weight in self.weight_index] )
checkSource(self.weight_joints, ('JOINT',), self.max_joint_index)
checkSource(self.weights, ('WEIGHT',), self.max_weight_index)
def __len__(self):
return len(self.index)
def __getitem__(self, i):
return self.index[i]
def bind(self, matrix, materialnodebysymbol):
"""Create a bound morph from this one, transform and material mapping"""
return BoundSkin(self, matrix, materialnodebysymbol)
@staticmethod
def load( collada, localscope, skinnode, controllernode ):
if len(localscope) < 3:
raise DaeMalformedError('Not enough sources in skin')
geometry_source = skinnode.get('source')
if geometry_source is None or len(geometry_source) < 2 \
or geometry_source[0] != '#':
raise DaeBrokenRefError('Invalid source attribute of skin node')
if not geometry_source[1:] in collada.geometries:
raise DaeBrokenRefError('Source geometry for skin node not found')
geometry = collada.geometries[geometry_source[1:]]
bind_shape_mat = skinnode.find(tag('bind_shape_matrix'))
if bind_shape_mat is None:
bind_shape_mat = numpy.identity(4, dtype=numpy.float32)
bind_shape_mat.shape = (-1,)
else:
try:
values = [ float(v) for v in bind_shape_mat.text.split()]
except ValueError:
raise DaeMalformedError('Corrupted bind shape matrix in skin')
bind_shape_mat = numpy.array( values, dtype=numpy.float32 )
inputnodes = skinnode.findall('%s/%s'%(tag('joints'), tag('input')))
if inputnodes is None or len(inputnodes) < 2:
raise DaeIncompleteError("Not enough inputs in skin joints")
try:
inputs = [(i.get('semantic'), i.get('source')) for i in inputnodes]
except ValueError as ex:
raise DaeMalformedError('Corrupted inputs in skin')
joint_source = None
matrix_source = None
for i in inputs:
if len(i[1]) < 2 or i[1][0] != '#':
raise DaeBrokenRefError('Input in skin node %s not found'%i[1])
if i[0] == 'JOINT':
joint_source = i[1][1:]
elif i[0] == 'INV_BIND_MATRIX':
matrix_source = i[1][1:]
weightsnode = skinnode.find(tag('vertex_weights'))
if weightsnode is None:
raise DaeIncompleteError("No vertex_weights found in skin")
indexnode = weightsnode.find(tag('v'))
if indexnode is None:
raise DaeIncompleteError('Missing indices in skin vertex weights')
vcountnode = weightsnode.find(tag('vcount'))
if vcountnode is None:
raise DaeIncompleteError('Missing vcount in skin vertex weights')
inputnodes = weightsnode.findall(tag('input'))
try:
index = numpy.array([float(v)
for v in indexnode.text.split()], dtype=numpy.int32)
vcounts = numpy.array([int(v)
for v in vcountnode.text.split()], dtype=numpy.int32)
inputs = [(i.get('semantic'), i.get('source'), int(i.get('offset')))
for i in inputnodes]
except ValueError as ex:
raise DaeMalformedError('Corrupted index or offsets in skin vertex weights')
weight_joint_source = None
weight_source = None
offsets = [0, 0]
for i in inputs:
if len(i[1]) < 2 or i[1][0] != '#':
raise DaeBrokenRefError('Input in skin node %s not found' % i[1])
if i[0] == 'JOINT':
weight_joint_source = i[1][1:]
offsets[0] = i[2]
elif i[0] == 'WEIGHT':
weight_source = i[1][1:]
offsets[1] = i[2]
if joint_source is None or weight_source is None:
raise DaeMalformedError('Not enough inputs for vertex weights in skin')
return Skin(localscope, bind_shape_mat, joint_source, matrix_source,
weight_source, weight_joint_source, vcounts, index, offsets,
geometry, controllernode, skinnode)
class BoundSkin(BoundController):
"""A skin bound to a transform matrix and materials mapping."""
def __init__(self, skin, matrix, materialnodebysymbol):
self.matrix = matrix
self.materialnodebysymbol = materialnodebysymbol
self.skin = skin
self.id = skin.id
self.index = skin.index
self.joint_matrices = skin.joint_matrices
self.geometry = skin.geometry.bind(numpy.dot(matrix,skin.bind_shape_matrix), materialnodebysymbol)
def __len__(self):
return len(self.index)
def __getitem__(self, i):
return self.index[i]
def getJoint(self, i):
return self.skin.weight_joints[i]
def getWeight(self, i):
return self.skin.weights[i]
def primitives(self):
for prim in self.geometry.primitives():
bsp = BoundSkinPrimitive(prim, self)
yield bsp
class BoundSkinPrimitive(object):
"""A bound skin bound to a primitive."""
def __init__(self, primitive, boundskin):
self.primitive = primitive
self.boundskin = boundskin
def __len__(self):
return len(self.primitive)
def shapes(self):
for shape in self.primitive.shapes():
indices = shape.indices
yield shape
class Morph(Controller):
"""Class containing data collada holds in the <morph> tag"""
def __init__(self, source_geometry, target_list, xmlnode=None):
"""Create a morph instance
:Parameters:
source_geometry
The source geometry (Geometry)
targets
A list of tuples where each tuple (g,w) contains
a Geometry (g) and a float weight value (w)
xmlnode
When loaded, the xmlnode it comes from
"""
self.id = xmlnode.get('id')
if self.id is None:
raise DaeMalformedError('Controller node requires an ID')
self.source_geometry = source_geometry
"""The source geometry (Geometry)"""
self.target_list = target_list
"""A list of tuples where each tuple (g,w) contains
a Geometry (g) and a float weight value (w)"""
self.xmlnode = xmlnode
#TODO
def __len__(self):
return len(self.target_list)
def __getitem__(self, i):
return self.target_list[i]
def bind(self, matrix, materialnodebysymbol):
"""Create a bound morph from this one, transform and material mapping"""
return BoundMorph(self, matrix, materialnodebysymbol)
@staticmethod
def load( collada, localscope, morphnode, controllernode ):
baseid = morphnode.get('source')
if len(baseid) < 2 or baseid[0] != '#' or \
not baseid[1:] in collada.geometries:
raise DaeBrokenRefError('Base source of morph %s not found' % baseid)
basegeom = collada.geometries[baseid[1:]]
method = morphnode.get('method')
if method is None:
method = 'NORMALIZED'
if not (method == 'NORMALIZED' or method == 'RELATIVE'):
raise DaeMalformedError("Morph method must be either NORMALIZED or RELATIVE. Found '%s'" % method)
inputnodes = morphnode.findall('%s/%s'%(tag('targets'), tag('input')))
if inputnodes is None or len(inputnodes) < 2:
raise DaeIncompleteError("Not enough inputs in a morph")
try:
inputs = [(i.get('semantic'), i.get('source')) for i in inputnodes]
except ValueError as ex:
raise DaeMalformedError('Corrupted inputs in morph')
target_source = None
weight_source = None
for i in inputs:
if len(i[1]) < 2 or i[1][0] != '#' or not i[1][1:] in localscope:
raise DaeBrokenRefError('Input in morph node %s not found' % i[1])
if i[0] == 'MORPH_TARGET':
target_source = localscope[i[1][1:]]
elif i[0] == 'MORPH_WEIGHT':
weight_source = localscope[i[1][1:]]
if not type(target_source) is source.IDRefSource or \
not type(weight_source) is source.FloatSource:
raise DaeIncompleteError("Not enough inputs in targets of morph")
if len(target_source) != len(weight_source):
raise DaeMalformedError("Morph inputs must be of same length")
target_list = []
for target, weight in zip(target_source, weight_source):
if len(target) < 1 or not(target in collada.geometries):
raise DaeBrokenRefError("Targeted geometry %s in morph not found"%target)
target_list.append((collada.geometries[target], weight[0]))
return Morph(basegeom, target_list, controllernode)
def save(self):
#TODO
pass
class BoundMorph(BoundController):
"""A morph bound to a transform matrix and materials mapping."""
def __init__(self, morph, matrix, materialnodebysymbol):
self.matrix = matrix
self.materialnodebysymbol = materialnodebysymbol
self.original = morph
def __len__(self):
return len(self.original)
def __getitem__(self, i):
return self.original[i]
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