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hier2x3d.nosegsite.pl
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#!/bin/perl
# Genrerate HAnim humanoid from hierarchy
@path = ();
$cur = 0;
$nxt = 0;
%joints = {};
%sites = {};
%alias = {};
$parents = {};
$site = "";
my $trailing_joints = "";
my $trailing_segments = "";
my $trailing_sites = "";
sub printXML {
my($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."' skinCoordIndex=' 0 ' skinCoordWeight=' 0 '";
} 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;
$ch->{line} =~ /([ |]*)(.*) : (.*)/; # child joint
$child_indent = length($1);
$child_joint = $2;
$child_segment = $3;
$first_segment++;
if ($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($child_segment);
}
if ($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, $nxt;
}
}
sub listSites() {
local($child_segment) = @_;
foreach my $site (sort keys %parents) {
if ($parents{$site} eq $child_segment) { # is the parent of the site the current segment?
if ($site =~ /distal_phalanx/) {
$suffix = "_tip";
} elsif ($site =~ /tongue/) {
$suffix = "_tip";
} elsif ($site =~ /eye/) {
$suffix = "_tip";
} elsif ($site =~ /axilla_distal/) {
$suffix = "_pt";
} else {
$suffix = "_pt";
# $suffix = "";
}
#print OUTPUT " " x ($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 ($nxt+4)."<TouchSensor description='HAnimSite ".$site.$suffix."'/>\n";
#print OUTPUT " " x ($nxt+4)."<Shape USE='HAnimSiteShape'/>\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(FEATURE, "<./standards/B.2.txt");
while(<FEATURE>) {
chomp;
if ($_ =~ /[^<>]*<tr>[^<>]*<td>([^<>]*)<\/td>[^<>]*<td>([^<>]*)<\/td>[^<>]*<td>([^<>]*)<\/td>[^<>]*<td>([^<>]*)<\/td>[^<>]*<td>([^<>]*)<\/td>[^<>]*<\/tr>[^<>]*/) {
# print $2."\t|".$5."\n";
$site = $2;
$site_alias = $5;
$site =~ s/[\t ]*([^\t ]*)[\t ]*/$1/;
$site_alias =~ s/[\t ]*([^\t ]*)[\t ]*/$1/;
$alias{$site_alias} = $site;
# print "Alias $site_alias\n";
}
}
close(FEATURE);
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");
$col = 0;
@sites = ();
$LOA = 4;
# 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 0' scale='1 1 1'>
<Shape DEF='HAnimRootShape'>
<Sphere radius='0.02' />
<Appearance>
<Material DEF='HAnimRootMaterial' diffuseColor='0.8 0 0' transparency='0.3'/>
</Appearance>
</Shape>
</Transform>
<Transform translation='0 2.1 0' scale='1 1 1'>
<Shape DEF='HAnimJointShape'>
<Sphere radius='0.02' />
<Appearance>
<Material DEF='HAnimJointMaterial' diffuseColor='0 0 0.8' transparency='0.3'/>
</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 1 1 1 0 0.1'/>
<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 0' transparency='0.3'/>
</Appearance>
</Shape>
</Transform>
</Transform>
</Group>
<NavigationInfo speed='1.5' type='"EXAMINE" "ANY"'/>
<Viewpoint centerOfRotation='0 0 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 27 -1 91 20 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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='0.2'/>
</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);