public static BVHNode ToBVHData(Bone node, MotionData motionData, out BVHMotionData bvhMotionData)
{
Dictionary <BVHNode, List <Quaternion> > data = new Dictionary <BVHNode, List <Quaternion> >();
var resultNode = ToBVHNode(node, motionData.Data, null, data);
bvhMotionData = new BVHMotionData(1.0 / motionData.FPS, data);
return(resultNode);
}
/// <summary>
/// reads BVH hierarchical data from a BVH file
/// </summary>
public static BVHNode ReadBvh(string file, out BVHMotionData motionData)
{
using (var reader = new StreamReader(file))
{
var line = reader.ReadLine().ToLower().Trim();
if (line != "hierarchy")
{
throw new FileFormatException("File has to start with HIERARCHY keyword");
}
var root = ReadNode(reader, reader.ReadLine(), 0);
motionData = ReadMotionData(reader, root);
return(root);
}
}
/// <summary>
/// converts BVH hierarchical structure to the applications own kinematic model definition
/// </summary>
public static Bone ToBones(BVHNode bvhNode, Bone parent, BVHMotionData bvhMotionData,
MotionData resultMotionData)
{
Bone result = new Bone(parent, name: bvhNode.Name, offset: bvhNode.Offset);
if (bvhNode.Type != BVHNodeTypes.EndSite)
{
resultMotionData.Data.Add(result, bvhMotionData.Data[bvhNode].ToList());
}
foreach (BVHNode item in bvhNode.Children)
{
result.Children.Add(ToBones(item, result, bvhMotionData, resultMotionData));
}
return(result);
}
/// <summary>
/// Writes a BVH motion data file
/// </summary>
public static void WriteBvh(string file, BVHNode root, BVHMotionData motionData)
{
using (var writer = new StreamWriter(file))
{
writer.WriteLine("HIERARCHY");
WriteBvhNode(root, writer, 0);
writer.WriteLine("MOTION");
int numFrames = motionData.Data.First().Value.Count;
writer.WriteLine($"Frames: {numFrames}");
writer.WriteLine($"Frame Time: {motionData.FrameTime}");
for (int i = 0; i < numFrames; i++)
{
foreach (var node in motionData.Data.Keys)
{
double yaw, pitch, roll;
motionData.Data[node][i].ToYawPitchRoll(out yaw, out pitch, out roll);
writer.Write($"{yaw * 180 / Math.PI} {pitch * 180 / Math.PI} {roll * 180 / Math.PI} ");
}
writer.WriteLine();
}
}
}