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| | ===Meetings=== | | ===Meetings=== |
| − | *Working Group: Wednesday, 5pm, PDT or PST for 1 hour
| + | *Next: teleconference 2023-Dec-07 at 21:00pm UTC for 60 minutes |
| − | *Next: April 23rd (Wednesday) at 5:00pm PDT | + | *[[Agenda and Minutes]] The meeting minutes since mid-2012 are available here. |
| − | *[[Agenda and Minutes]] | + | *[[ISO/IEC JTC1]] International Organization for Standardization[http://www.iso.org/iso/home/about.htm]/International Electrotechnical Committee, Joint Technical Committee, Subcommittee 24 Computer Graphics, Image Processing and Environmental Data Representation[http://www.iec.ch/about/brochures/pdf/technology/ict_innovation.pdf] the Web3D Consortium uses to process its specifications. |
| − | *[[International Standards Organization (ISO)]] | + | |
| | ===Work=== | | ===Work=== |
| − | *[[Proposed]] | + | *[[Proposed]] The work items proposed by Web3D Consortium members are available here. |
| − | *[[Planned]] | + | *[[Planned]] The work items accepted by the H-Anim Working Group and assigned to human resources are available here. The work has not started. The work planned may not have a milestone schedule or priority if a human resource is assigned to multiple work packages. |
| − | *[[In-Progress]] | + | *[[In-Progress]] The work items that have started by assigned human resources are available here with notes on the risks to completion, problems or issues, and any unusual ways the issues or problems were over come. |
| − | *[[Completed]] | + | *[[Completed]] The work items completed as determined by the H-Anim Working Group are available here. |
| | ===Governance=== | | ===Governance=== |
| | *Chairpersons: Myeong Won Lee, William O. Glascoe III | | *Chairpersons: Myeong Won Lee, William O. Glascoe III |
| | *Members: Joe Williams (Subject Matter Expert), Don Brutzman, Richard Puk, Sandy Ressler, Keith Victor, David Bruner, Anita Havele, Jung-Ju Choi, Kwan-Hee Yoo | | *Members: Joe Williams (Subject Matter Expert), Don Brutzman, Richard Puk, Sandy Ressler, Keith Victor, David Bruner, Anita Havele, Jung-Ju Choi, Kwan-Hee Yoo |
| − | *[[Charter]] | + | *[[Charter]] The H-Anim working group charter is here. |
| − | *[[Strategic Plan]] | + | *[[Strategic Plan]] The H-Anim Strategic Plan, derived from its Charter, is tagged with the Strategy Markup Language (StratML) at the URL here. |
| − | *[[Marketing Plan]] | + | *[[Marketing Plan]] The legal and natural persons or Key Partners to deliver on the H-Anim strategic goals are enumerated here. The key activities and key resources defining our capacity to confidence are explained. |
| − | *[[Strategic Report]] | + | *[[Performance Plan and Report]] The cumulative performance plan and report of the H-Anim working group is here and tagged with the StratML Part II standard. |
| | ===Specifications=== | | ===Specifications=== |
| − | *[[Drafted]] | + | *[http://hanim.org H-Anim working group] |
| − | *[[In-Review]] | + | *[[Drafted]] Proposed text, figures, tables and scene graphs for the specification are here. |
| − | *[[Ratified]] | + | *[[In-Review]] Draft specification changes accepted by the working group and assigned to a minimum of three WG members including the Chair are here. |
| | + | *[[Ratified]] URL to the ISO/IEC website and the Web3D website of the ratified specification are here. |
| | ===Users=== | | ===Users=== |
| − | *[[User Stories]] | + | *[[User Stories]] Commercial and non-commercial stories expressed with H-Anim amongst other technologies are cataloged here. |
| − | *[[Use Cases]] | + | *[[Use Cases]] Cases in academia, industry and governments foreign and domestic that H-Anim was implemented are itemized here. |
| − | *[[Requirements]] | + | *[[Requirements]] Requirements, fulfilled and not, by the ratified H-Anim specification and its alternatives (e.g., BVH and MPEG4) are in a table here. |
| | ===Partners=== | | ===Partners=== |
| − | *[[Relationships]] | + | *[[Relationships]] Relationships between individuals and legal persons and the H-Anim WG and Web3D Consortium are enumerated here. |
| − | *[[Exchanges]] | + | *[[Exchanges]] The animations reused between the H-Anim WG and Web3D Consortium members and others are enumerated here. |
| − | *[[Dependencies]] | + | *[[Dependencies]] Expertise of individuals and legal persons who are not members of the Web3D Consortium are described here. |
| − | ===Usage=== | + | ===Authoring=== |
| − | *[[Toolkits]] | + | *[[Toolkits]] Toolkits for authors of H-Anim and other animation engines are enumerated with the WG's ratings for your comparison and feedback. |
| − | *[[Techniques]] | + | *[[Techniques]] The essential knowledge and skills for large to small H-Anim projects usually not found in toolkits' help systems or courseware are proffered here. |
| − | *[[Tips & Tricks]] | + | *[[Tips & Tricks]] The little secrets to the noteworthy H-Anim productions are revealed here. |
| | ===Technologies=== | | ===Technologies=== |
| − | *[[Language Bindings]] | + | *[[Alternate Animation File Formats]] H-Anim is not the only format so we acknowledge the alternatives in use here. |
| − | *[[Computing Platforms]] | + | *[[Computing Platforms]] Suggestions on computing platforms from glasses and watches to CAVES and volumetric displays for H-Anim viewing are categorized here. |
| − | *[[Networking]] | + | *[[Networking]] Distributed H-Anim rendering is discussed here. |
| | ===Sciences=== | | ===Sciences=== |
| − | *[[Anthropometry]] | + | * Professionals, publications, their groups and events where H-Anim could be used or is integrated in the tools and communications. |
| − | *[[Biomechanics]] | + | *[[Anthropometry]] Governmental, academic and commercial entities whose mission is the study and application of anthropometric data are here. |
| − | *[[Exercise Physiology]] | + | *[[Anatomy]] Governmental, academic and commercial entities whose mission is the study and application of human skeleton data are here. |
| − | *[[Kinesiology]] | + | *[[Biomechanics]] Governmental, academic and commercial entities whose mission is the study and application of biomechanics are here. |
| | + | *[[Chiropratic]] Governmental, academic and commercial entities whose mission is the study and application of chiropractic are here. |
| | + | *[[Human Factors & Ergonomics]] Governmental, academic and commercial entities whose mission is the study and application of ergonomics are here. |
| | + | *[[Exercise Physiology]] Governmental, academic and commercial entities whose mission is the study and application of exercise physiology are here. |
| | + | *[[Kinesiology]] Governmental, academic and commercial entities whose mission is the study and application of kinesiological data are here. |
| | + | *[[Biometrics]] Governmental, academic and commercial entities whose mission is the study and application of biometric data are here. |
| | ===Resources=== | | ===Resources=== |
| − | *Open Virtual Reality Testbed [http://ovrt.nist.gov/projects/vrml/h-anim/jointInfo.html] for Open Virtual Reality Testbed page on human joint types and counts | + | *[[Flyers & Brochures]] Marketing and Advertising collateral for Working Group members at conferences, symposia, Hack-a-thons, etc. |
| − | *[http://www.web3d.org/realtime-3d/working-groups/h-anim H-Anim Executive Summary] for more Working Group information
| + | *[[Exemplars]] H-Anim scene graphs the Working Group considers exemplary in complexity, novelty, and realism are available here. |
| − | *[http://hanim.org H-Anim working group]
| + | *[[Libraries]] Commercial and non-commercial H-Animation collections, repositories, catalogs, and libraries are available here. |
| − | *[http://www.web3d.org/files/specifications/19775-1/V3.3/index.html Humanoid Animation V1.0 Specification] ([http://www.web3d.org/files/specifications/19774/V1.0/ISO-IEC-19774-IS-V1.0.zip .zip])
| + | *[[Awards]] Recognition including awards to individuals, teams or organizations that H-Anim was mentioned or displayed in the winning submission are enumerated here. |
| − | *[http://www.web3d.org/x3d/content/examples/Basic/HumanoidAnimation H-Anim Examples] in the X3D Basic Examples Archive
| + | *[[Projects]] Projects planned, underway and completed are enumerated here if H-Anim was used. |
| − | | + | *[[Courses]] Courses in any educational institution, public or private, domestic or outside the United States that teach H-Anim are enumerated here. |
| − | ==Procedure for H-Anim character design==
| + | |
| − | * [http://web3d.org/wiki/index.php/File:ProcedureCharacterDesign130911.pdf Procedure for designing an H-Anim character with a general design tool]
| + | |
| − | | + | |
| − | ==H-Anim wrl to x3d converter==
| + | |
| − | * [http://web3d.org/wiki/index.php/File:HAnimWRL_X3D_Converter130905.zip Converter from H-Anim WRL to H-Anim X3D]
| + | |
| − | * test version
| + | |
| − | | + | |
| − | ==H-Anim LOA Figures ==
| + | |
| − | * LOA1 example figures: [[Media:BonesAllSkeletonFrontView LOA1.png]] and [[Media:JointNamesLOA1.png]]
| + | |
| − | | + | |
| − | [[Media:BonesAllSkeletonFrontView LOA1n.png]]
| + | |
| − | | + | |
| − | * LOA2 example figure: [[Media:BonesAllSkeletonFrontView LOA2.png]]
| + | |
| − | | + | |
| − | [[Media:BonesAllSkeletonFrontView LOA2n.png]]
| + | |
| − | | + | |
| − | * LOA3 example figure: [[Media:BonesAllSkeletonFrontView LOA3.png]]
| + | |
| − | | + | |
| − | [[Media:BonesAllSkeletonFrontView LOA3n.png]]
| + | |
| − | | + | |
| − | The background skeleton and images for the human skeleton can be found in the [http://www.web3d.org/x3d/content/examples/Basic/Medical/X3D Basic Medical examples archive]:
| + | |
| − | | + | |
| − | * [http://www.web3d.org/x3d/content/examples/Basic/Medical/SkeletonCompleteNormals.x3d SkeletonCompleteNormals.x3d]
| + | |
| − | | + | |
| − | *H-Anim examples archive:
| + | |
| − | | + | |
| − | H-Anim Behavior Prototypes
| + | |
| − | | + | |
| − | Prototypes for HAnimBehavior node, which collects OrientationInterpolators for aggregate animation of an H-Anim humanoid model, and
| + | |
| − | HAnimBodyBehaviorChooser, which selects one body and enables/disables multiple aggregate behaviors.
| + | |
| − | | + | |
| − | *http://www.web3d.org/x3d/content/examples/Basic/HumanoidAnimation/
| + | |
| − | *http://www.web3d.org/x3d/content/examples/Basic/HumanoidAnimation/Web3D2007BlendedBehaviorsChangeableBodies.pdf
| + | |
| − | *http://www.web3d.org/x3d/content/examples/Basic/HumanoidAnimation/ApaydinThesis.pdf
| + | |
| − | | + | |
| − | H-Anim examples designed with a general tool (10 H-Anim characters)
| + | |
| − | | + | |
| − | * [http://www.web3d.org/membership/login/documents/accion.php?PHPSESSID=a6fe6c5402bb3bf0eb22a76461782117&dir=.%2FH-Anim%20WG%2F1Jin 1Jin wrl, x3d, texture image]
| + | |
| − | * [http://www.web3d.org/membership/login/documents/navega.php?PHPSESSID=a6fe6c5402bb3bf0eb22a76461782117&dir=.%2FH-Anim%20WG%2F2Chul 2Chul wrl, x3d, texture image]
| + | |
| − | * [http://www.web3d.org/membership/login/documents/navega.php?PHPSESSID=a6fe6c5402bb3bf0eb22a76461782117&dir=.%2FH-Anim%20WG%2F3Hyun 3Hyun wrl, x3d, texture image] | + | |
| − | * [http://www.web3d.org/membership/login/documents/navega.php?PHPSESSID=a6fe6c5402bb3bf0eb22a76461782117&dir=.%2FH-Anim%20WG%2F4Young 4Young wrl, x3d, texture image]
| + | |
| − | * [http://www.web3d.org/membership/login/documents/navega.php?PHPSESSID=a6fe6c5402bb3bf0eb22a76461782117&dir=.%2FH-Anim%20WG%2F5Ju 5Ju wrl, x3d, texture image]
| + | |
| − | * [http://www.web3d.org/membership/login/documents/accion.php?PHPSESSID=a6fe6c5402bb3bf0eb22a76461782117&dir=.%2FH-Anim%20WG%2F6Ga 6Ga wrl, x3d, texture image]
| + | |
| − | * [http://www.web3d.org/membership/login/documents/accion.php?PHPSESSID=a6fe6c5402bb3bf0eb22a76461782117&dir=.%2FH-Anim%20WG%2F7No 7No wrl, x3d, texture image]
| + | |
| − | * [http://www.web3d.org/membership/login/documents/accion.php?PHPSESSID=a6fe6c5402bb3bf0eb22a76461782117&dir=.%2FH-Anim%20WG%2F8Da 8Da wrl, x3d, texture image]
| + | |
| − | * [http://www.web3d.org/membership/login/documents/accion.php?PHPSESSID=a6fe6c5402bb3bf0eb22a76461782117&dir=.%2FH-Anim%20WG%2F9Ru 9Ru wrl, x3d, texture image]
| + | |
| − | * [http://www.web3d.org/membership/login/documents/accion.php?PHPSESSID=a6fe6c5402bb3bf0eb22a76461782117&dir=.%2FH-Anim%20WG%2F10Mi 10Mi wrl, x3d, texture image]
| + | |
| − | | + | |
| − | ===Current Work===
| + | |
| − | Working group chairs keep the following pages up to date:
| + | |
| − | *[http://www.web3d.org/realtime-3d/working-groups/h-anim Humanoid Animation (H-Anim)] overview on web3d.org site
| + | |
| − | *This wiki page
| + | |
| − | | + | |
| − | Joe and Don are working each Monday night [1700-1900 pacific, Web3D teleconference line) on
| + | |
| − | *Confirming first the status of all current work relative to the approved H-Anim Specification
| + | |
| − | **[http://www.web3d.org/x3d/content/examples/Basic/index.html#HumanoidAnimation X3D Basic Examples for H-Anim]
| + | |
| − | **[http://www.web3d.org/x3d/content/examples/X3dResources.html#Tooltips X3D tooltips], [http://www.web3d.org/specifications/X3dDoctypeDocumentation3.3.html X3D DOCTYPE Documentation] and [http://www.web3d.org/specifications/X3dSchemaDocumentation3.3/x3d-3.3.html X3D Schema Documentation] for the H-Anim nodes
| + | |
| − | **[http://www.web3d.org/x3d/wiki/index.php/Player_support_for_X3D_components X3D Player Support] for H-Anim
| + | |
| − | **X3D Authoring Tool Support for H-Anim including [https://savage.nps.edu/X3D-Edit X3D-Edit]
| + | |
| − | **[http://www.web3d.org/x3d/content/examples/X3dResources.html#QualityAssurance X3D Quality Assurance (QA)] and [https://savage.nps.edu/X3dValidator X3D Validator]
| + | |
| − | | + | |
| − | *As those issues get sorted out, we are re-visiting all the important details regarding H-Anim skinning
| + | |
| − | **Definitions, example test scenes, tool support
| + | |
| − | **Proposing an improved H-Anim component for X3D v3.4
| + | |
| − | **Editing a corresponding update to H-Anim ISO 19774 Specification
| + | |
| − | | + | |
| − | The larger group is also working on
| + | |
| − | *interoperable, swappable behaviors
| + | |
| − | *motion capture
| + | |
| − | *facial animation
| + | |
| − | | + | |
| − | === Anthropometry ===
| + | |
| − | Published References for review and citation
| + | |
| − | | + | |
| − | [http://www.nap.edu/catalog.php?record_id=791 Ergonomic Models of Anthropometry, Human Biomechanics and Operator-Equipment Interfaces: Proceedings of a Workshop ( 1988 )]
| + | |
| − | | + | |
| − | Professional Societies:
| + | |
| − | Professional Certifications, Licenses in Anthropometry
| + | |
| − | International Standards:
| + | |
| − | ISO -
| + | |
| − | Basic human body measurements for technological design -- Part 1: Body measurement definitions and landmarks
| + | |
| − | IEEE -
| + | |
| − | | + | |
| − | North American Standards:
| + | |
| − | | + | |
| − | ANSI
| + | |
| − | | + | |
| − | South, Central, Latin American Standards:
| + | |
| − | | + | |
| − | European, Middle Eastern and African Standards:
| + | |
| − | | + | |
| − | Asian Standards:
| + | |
| − | | + | |
| − | ===Before===
| + | |
| − | This wiki page is the site for the recently renewed Humanoid Animation (H-Anim) Working Group.
| + | |
| − | | + | |
| − | '''Humanoid Animation (H-Anim) WG Meeting'''
| + | |
| − | | + | |
| − | *[[H-Anim WG Meeting at Web3D Conference & SIGGRAPH 2012, Los Angeles, USA, August 3, 2012]] | + | |
| − | *Teleconferences: 1st Wednesday at 9:00am PDT every month
| + | |
| − | *Our August 2012 meeting will be replaced by the face-to-face H-Anim WG meeting (Hilton Checkers Hotel, 03 August at 16:00).
| + | |
| − | | + | |
| − | March 2012: [[H-Anim Working Group Draft Charter]] materials by [http://www.web3d.kr Web3D Korean Chapter]
| + | |
| − | | + | |
| − | Links of interest:
| + | |
| − | | + | |
| − | *[http://www.web3d.org/realtime-3d/working-groups/h-anim H-Anim Executive Summary] for more Working Group information
| + | |
| − | *[http://hanim.org H-Anim working group]
| + | |
| − | *[http://www.web3d.org/files/specifications/19775-1/V3.3/index.html Humanoid Animation V1.0 Specification] ([http://www.web3d.org/files/specifications/19774/V1.0/ISO-IEC-19774-IS-V1.0.zip .zip])
| + | |
| − | *[http://www.web3d.org/x3d/content/examples/Basic/HumanoidAnimation H-Anim Examples] in the X3D Basic Examples Archive
| + | |
| − | | + | |
| − | There has been previous work by the H-Anim working group during 2008-2009 that was not completed. Here are some additional links on the members-only wiki:
| + | |
| − | | + | |
| − | *[http://www.web3d.org/membership/login/memberwiki/index.php/H-Anim Web3D members-only H-Anim wiki]
| + | |
| − | *[http://www.web3d.org/membership/login/memberwiki/index.php/Accommodating_Diverse_Models Accommodating Diverse Models] (also linked there for members: Proposed amendment to H-Anim Specification)
| + | |
| − | *[http://www.igraphics.com/Standards/ISO_IEC_19774_WAM1_2009_01_12/index.html Proposed amendment to H-Anim Specification]
| + | |
| − | *TODO list progress and problems
| + | |
| − | *TODO determine visibility permissions for items on the members-only sites (this is a decision by the working group, assuming that no proprietary information is included)
| + | |
| − | *TODO find prior working group charter
| + | |
| − | | + | |
| − | Much additional work has been proposed by the Korea Chapter.
| + | |
| − | | + | |
| − | # Definition of a humanoid character model capable of generating motion from captured motion data
| + | |
| − | # Definition of a humanoid character model capable of generating motion using a general motion definition such as keyframe, interpolation, kinematics and dynamics for human figures.
| + | |
| − | # Definition of motion parameters for transferring or exchanging motion between different human character models
| + | |
| − | # Definition of motion data interface for including motion data
| + | |
| − | # Definition of behavior modeling data
| + | |
| − | # Definition of motion viewer’s functionality
| + | |
| − | # Video human functionality and gestures will be considered in AR/MR working group efforts
| + | |
| − | | + | |
| − | We agreed on the 1 Feb 2012 teleconference that it is a good idea to document work on these many good ideas using this H-Anim public wiki. Further comment is welcome about this.
| + | |
| − | | + | |
| − | The main thing that is needed next is to get the H-Anim Working Group restarted and rejuvenated.
| + | |
| − | | + | |
| − | *H-Anim WG Charter
| + | |
| − | *TODO: we need 1-2 members who are willing to volunteer to serve as working group co-chairs.
| + | |
| − | *Working Draft for the H-Anim motion definition (in preparation) [http://www.web3d.org/membership/login/memberwiki/index.php/H-Anim_Motion_Definition H-Anim Motion Definition] | + | |
| − | | + | |
| − | == William's Section! ==
| + | |
| − | | + | |
| − | Human joint articulation of any type (there are six: ball & socket, elbow, gliding, hinge, hip, and saddle joints) can be expressed using Euler angles or quaternions. The word quaternion is modified based on how it is used--rotation, orientation or attitude modifiers are germane but there are others for different use cases. There are multiple approaches to convert Euler angles into quaternions (http://en.wikipedia.org/wiki/Hamilton_product#Hamilton_product, http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation).
| + | |
| − | | + | |
| − | == BVH mocap conversion to X3D interpolators ==
| + | |
| − | | + | |
| − | Myeong Won Lee example: http://web3d.org/wiki/images/4/4b/197_a.bvh.txt
| + | |
| − | | + | |
| − | Proposed investigation procedure: divide and conquer! Let's take each skeleton apart and put them back together again.
| + | |
| − | | + | |
| − | ----
| + | |
| − | ===1. Is there an X3D H-Anim skeleton that corresponds to the BVH ROOT/JOINT HIERARCHY? ===
| + | |
| − | | + | |
| − | The structures used by BVH and H-Anim are different. There is not a direct correspondence between them. Differences include:
| + | |
| − | * The hierarchical nesting of parent-child relationships is different | + | |
| − | * Values are therefore in different coordinate frames (one might be relative to parent joint, the other absolute coordinates for the human)
| + | |
| − | * Formats are quite different
| + | |
| − | * (others will be listed here)
| + | |
| − | | + | |
| − | ----
| + | |
| − | === 2. However many similarities also exist. Maybe they can be exploited? ===
| + | |
| − | | + | |
| − | Perhaps we can build a mapping between the two. If we perform rotation transformations, a conversion algorithm can be computed for each hierarchy and corresponding units.
| + | |
| − | | + | |
| − | Here is a possible set of correspondences between a BVH model and an X3D H-Anim LOA-1 model.
| + | |
| − | | + | |
| − | * '''BVH :: X3D H-Anim'''
| + | |
| − | ** ROOT :: HAnimHumanoid
| + | |
| − | ** JOINT :: HAnimJoint
| + | |
| − | *** JOINT name:: HAnimJoint name
| + | |
| − | *** OFFSET :: HAnimJoint center
| + | |
| − | ** CHANNEL definitions :: HAnimJoint rotation, translation
| + | |
| − | *** MOTION array of Euler-degree rotations :: OrientationInterpolator MFRotation array with ROUTE connections
| + | |
| − | *** CHANNEL array of position translations :: PositionInterpolator MFVec3f array with ROUTE connections
| + | |
| − | ** End Site :: HAnimSite
| + | |
| − | ** Anything else?
| + | |
| − | | + | |
| − | TODO
| + | |
| − | * map the BVH names to the approved H-Anim X3D names.
| + | |
| − | | + | |
| − | ----
| + | |
| − | === 3. Once we have the skeleton mapping, we can work on the animation values. ===
| + | |
| − | | + | |
| − | Let's look at the BVH file next. Hypothesis:
| + | |
| − | * BVH MOTION arrays providing Zrotation Xrotation Yrotation values
| + | |
| − | to
| + | |
| − | * corresponding MFRotation arrays with 4-tuple SFRotation values
| + | |
| − | | + | |
| − | Example reconstruction follows. First is an extract from the BVH file, then a counting exercise of how many floats appear.
| + | |
| − | | + | |
| − | * ROOT Hips
| + | |
| − | CHANNELS 6 Xposition Yposition Zposition Zrotation Xrotation Yrotation
| + | |
| − | * JOINT Chest
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT LeftCollar
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT LeftShoulder
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT LeftElbow
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT LeftWrist
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT RightCollar
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT RightShoulder
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT RightElbow
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT RightWrist
| + | |
| − | CHANNELS 3 Zrotation Xrotation
| + | |
| − | * JOINT Neck
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT Head
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT LeftHip
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT LeftKnee
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT LeftAnkle
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT RightHip
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT RightKnee
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | * JOINT RightAnkle
| + | |
| − | * CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | | + | |
| − | Defines a MOTION array consisting of numeric values:
| + | |
| − | | + | |
| − | 3 floats [Hip location]
| + | |
| − | 3 floats [Hip rotation]
| + | |
| − | 3 floats [Chest rotation]
| + | |
| − | 3 floats [LeftCollar rotation]
| + | |
| − | 3 floats [LeftShoulder rotation]
| + | |
| − | 3 floats [LeftElbow rotation]
| + | |
| − | 3 floats [LeftWrist rotation]
| + | |
| − | 3 floats [RightCollar rotation]
| + | |
| − | 3 floats [RightShoulder rotation]
| + | |
| − | 3 floats [RightElbow rotation]
| + | |
| − | 3 floats [RightWrist rotation]
| + | |
| − | 3 floats [Neck rotation]
| + | |
| − | 3 floats [Head rotation]
| + | |
| − | 3 floats [LeftHip rotation]
| + | |
| − | 3 floats [LeftKnee rotation]
| + | |
| − | 3 floats [LeftAnkle rotation]
| + | |
| − | 3 floats [RightHip rotation]
| + | |
| − | 3 floats [RightKnee rotation]
| + | |
| − | 3 floats [RightAnkle rotation]
| + | |
| − | = 19*3 = 54 floats
| + | |
| − | | + | |
| − | Each line of the MOTION data has 19 triples. Therefore we do have a good match.
| + | |
| − | | + | |
| − | ----
| + | |
| − | | + | |
| − | === 4. Units ===
| + | |
| − | | + | |
| − | Length
| + | |
| − | * BVH position units: author-defined, arbitrary - no fixed units, apparently (TODO confirm)
| + | |
| − | * X3D position units: 3-tuple x-y-z meters relative to point between feet on floor
| + | |
| − | | + | |
| − | Some scaling may be needed to get from BVH to X3D, either by a Transform scale or by a UNIT statement.
| + | |
| − | | + | |
| − | Angle
| + | |
| − | * BVH orientation units: (Zrotation Xrotation Yrotation) Euler angles in degrees. Note that order may vary. (TODO confirm)
| + | |
| − | * X3D rotation units: SFRotation 4-tuple (normalized x-y-z axis vector, angle in radians)
| + | |
| − | | + | |
| − | Given these definitions, we will need to convert the BVH orientation to X3D rotation.
| + | |
| − | Ordinarily in 3D graphics this is performed using a 3x3 or 4x4 transformation matrix.
| + | |
| − | | + | |
| − | ----
| + | |
| − | | + | |
| − | === 5. Converting BVH Motion Arrays to X3D Interpolators ===
| + | |
| − | | + | |
| − | The goal is to determine an algorithm to take BVH MOTION arrays to create PositionInterpolator and OrientationInterpolator.
| + | |
| − | | + | |
| − | First some definitions, then conversions, step by step.
| + | |
| − | | + | |
| − | ==== 5a. Computation of duration value ====
| + | |
| − | | + | |
| − | BVH excerpt:
| + | |
| − | MOTION
| + | |
| − | Frames: 482
| + | |
| − | Frame Time: 0.016667
| + | |
| − | | + | |
| − | Note that these units are seconds. Frame time matches 60 frames per second.
| + | |
| − | | + | |
| − | The first entry in the time array is at time zero. Therefore there are (482 - 1) = 481 intervals between each frame.
| + | |
| − | | + | |
| − | Thus total duration = (# intervals)(frame duration) = (481 * 0.016667) = (481 / 60) = 8.01667 seconds.
| + | |
| − | | + | |
| − | Using this computation, the derived X3D arrays can then be driven by a TimeSensor and key values at appropriate frame-time increments.
| + | |
| − | | + | |
| − | X3D TimeSensor duration is expressed by a value like
| + | |
| − | | + | |
| − | cycleTime="8.01667"
| + | |
| − | | + | |
| − | ==== 5b. Interpolator key array ====
| + | |
| − | | + | |
| − | In X3D, an interpolator key is typically a fraction from 0 to 1.0.
| + | |
| − | * take total time interval of BVH file, example 8.01667 seconds
| + | |
| − | * divide by number of intervals, for example 481
| + | |
| − | * resulting key array would have fractions incrementing by (1.0 / 481) = 0.016667 (looks familiar)
| + | |
| − | * add increments, result is
| + | |
| − | | + | |
| − | key = "0 1/481 2/481 3/481 ...etc... 1" or
| + | |
| − | key = "0 0.002079 0.002079*2 0.002079*3 ...etc... 1"
| + | |
| − | key = "0 0.002079 0.004158 0.006237 ...etc... 1"
| + | |
| − | | + | |
| − | Note that the X3D Interpolator keyValue array will have same length as rotation array
| + | |
| − | * must convert each triple of Euler angles to a corresponding SFRotation (see preceding section 4)
| + | |
| − | * result will be something like
| + | |
| − | | + | |
| − | keyValue="0 1 0 0.0, 0 1 0 0.111, 0 1 0 0.123 ...etc..." etc.
| + | |
| − | | + | |
| − | ==== 5c. TimeSensor and ROUTE ====
| + | |
| − | | + | |
| − | TimeSensor fraction_changed output is ROUTEd to OrientationInterpolator set_fraction. Result:
| + | |
| − | | + | |
| − | <TimeSensor DEF="AnimationClock" cycleTime="8.01667" />
| + | |
| − |
| + | |
| − | <OrientationInterpolator DEF="X3dMotionArray"
| + | |
| − | key = "0 0.002079 0.004158 0.006237 ...etc... 1"
| + | |
| − | keyValue="0 1 0 0.0, 0 1 0 0.111, 0 1 0 0.123 ...etc..." />
| + | |
| − |
| + | |
| − | <ROUTE fromNode="AnimationClock" fromField="fraction_changed"
| + | |
| − | toNode="X3dMotionArray" fromField="set_fraction" />
| + | |
| − | | + | |
| − | Informational note: the time values corresponding to the key values above do not have to be included in the scene. Nevertheless they are computed by a browser as follows:
| + | |
| − | | + | |
| − | key = 0 1/481 2/481 3/481 ... 481/481
| + | |
| − | time: 0 8.01667/481 8.01667*2/481 8.01667*3/481 ... 8.01667*481/481 ==> 0 0.016667 0.016667*2 0.016667*3 ... 8.01667
| + | |
| − | | + | |
| − | ==== 5d. Computing keyValue arrays ====
| + | |
| − | | + | |
| − | This section examines how BVH values are excerpted and converted into various keyValue arrays.
| + | |
| − | In other words, we take two frames of a BVH file to produce PositionInterpolator and OrientationInterpolator nodes.
| + | |
| − | | + | |
| − | Below is an example of two unmodified, unmarked BVH frames:
| + | |
| − | | + | |
| − | BVH Motion
| + | |
| − | Frame 0:
| + | |
| − | 1.662 31.427 60.304 -1.249 -4.859 -3.582 4.463 1.354 0.075 -13.732 3.052 3.999
| + | |
| − | 95.677 1.705 -1.512 5.541 -3.491 0.339 1.259 -3.022 1.790 6.765 2.405 -4.446
| + | |
| − | -91.027 -7.187 4.910 -3.633 0.867 0.043 -2.879 0.120 -5.688 -1.132 -1.858 0.809
| + | |
| − | -2.969 -8.472 1.461 -1.304 3.919 -2.045 1.054 9.006 -0.191 2.695 -1.341 -0.615
| + | |
| − | 0.361 4.452 4.756 0.484 8.095 0.193 -6.340 -0.815 1.224
| + | |
| − |
| + | |
| − | Frame 1:
| + | |
| − | 1.659 31.427 60.307 -1.268 -4.835 -3.588 4.487 1.352 0.080 -13.802 3.059 3.999
| + | |
| − | 95.651 1.737 -1.609 5.541 -3.521 0.340 1.298 -3.030 1.974 6.795 2.410 -4.418
| + | |
| − | -90.999 -7.145 4.917 -3.633 0.825 0.043 -2.862 0.151 -5.736 -1.141 -1.863 0.806
| + | |
| − | -2.988 -8.482 1.455 -1.283 3.890 -2.157 1.055 9.042 -0.193 2.781 -1.350 -0.638
| + | |
| − | 0.381 4.430 4.692 0.484 8.102 0.194 -6.266 -0.819 1.206
| + | |
| − |
| + | |
| − | Next we will use excerpts from the above BVH frame values to show example conversions into X3D PositionInterpolator and OrientationInterpolator.
| + | |
| − | | + | |
| − | * The keyValue array for the PositionInterpolator are obtained from the <span style="color:#FF0000">first three values</span> at all frames.
| + | |
| − | * The keyValue array for each OrientationInterpolator per joint are obtained by Euler-to-SFRotation conversion from the corresponding three values at all frames for each corresponding joint.
| + | |
| − | * We do not yet perform the Euler-to-SFRotation conversion, but we show where it will occur.
| + | |
| − | | + | |
| − | Color codes: <span style="color:#FF0000">translation values</span>, <span style="color:#FFAA00">joint 1 rotations</span>, <span style="color:#00AA00">joint 2 rotations</span>, and <span style="color:#0000AA">joint 3 rotations</span>
| + | |
| − | | + | |
| − | BVH Motion
| + | |
| − | Frame 0:
| + | |
| − | <span style="color:#FF0000">1.662 31.427 60.304</span> <span style="color:#FFAA00">-1.249 -4.859 -3.582</span> <span style="color:#00AA00">4.463 1.354 0.075</span> <span style="color:#0000AA">-13.732 3.052 3.999</span> ...
| + | |
| − |
| + | |
| − | Frame 1:
| + | |
| − | <span style="color:#FF0000">1.659 31.427 60.307</span> <span style="color:#FFAA00">-1.268 -4.835 -3.588</span> <span style="color:#00AA00">4.487 1.352 0.080</span> <span style="color:#0000AA">-13.802 3.059 3.999</span> ...
| + | |
| − |
| + | |
| − | <PositionInterpolator DEF='HumanoidRootTransInterp' key='0 1/481 2/481 3/481 ...' keyValue='<span style="color:#FF0000">1.662 31.427 60.304, 1.659 31.427 60.307,</span> ...' />
| + | |
| − | <OrientationInterpolator DEF='HumanoidRootRotInter' key='0 1/481 2/481 3/481 ...' keyValue='f(<span style="color:#FFAA00">-1.249 -4.859 -3.582</span>), f(<span style="color:#FFAA00">-1.268 -4.835 -3.588</span>), ...'/>
| + | |
| − | <OrientationInterpolator DEF='sacroiliacRotInterpo' key='0 1/481 2/481 3/481 ...' keyValue='f(<span style="color:#00AA00">4.463 1.354 0.075</span>), f(<span style="color:#00AA00">4.487 1.352 0.080</span>), ... '/>
| + | |
| − | <OrientationInterpolator DEF='l_hipRotInterpolator' key='0 1/481 2/481 3/481 ...' keyValue='f(<span style="color:#0000AA">-13.732 3.052 3.999</span>), f(<span style="color:#0000AA">-13.802 3.059 3.999</span>), ...'/>
| + | |
| − |
| + | |
| − | where
| + | |
| − | f(phi,theta,psi) means euler-to-SFRotation conversion. (Might need to check order of BVH rotations to match phi,theta,psi).
| + | |
| − | | + | |
| − | Using other expressions, here is a pattern for the conversion mapping from BVH to X3D keyValue arrays.
| + | |
| − | | + | |
| − | The meaning of these BVH value labels are as follows:
| + | |
| − | * "<span style="color:#FF0000">0-tz</span>" means "frame time 0, translation along z axis"
| + | |
| − | * "<span style="color:#0000AA">1-rotz2</span>" means "frame time 1, single Euler-rotation angle about z axis, for <span style="color:#0000AA">joint 2</span>"
| + | |
| − | | + | |
| − | BVH Motion
| + | |
| − | Frame 0:
| + | |
| − | <span style="color:#FF0000">0-tx 0-ty 0-tz</span>, <span style="color:#FFAA00">0-rotx0, 0-roty0, 0-rotz0</span>, <span style="color:#00AA00">0-rotx1, 0-roty1, 0-rotz1</span>, <span style="color:#0000AA">0-rotx2, 0-roty2, 0-rotz2</span>, ...
| + | |
| − |
| + | |
| − | Frame 1:
| + | |
| − | <span style="color:#FF0000">1-tx 1-ty 1-tz</span>, <span style="color:#FFAA00">1-rotx0, 1-roty0, 1-rotz0</span>, <span style="color:#00AA00">1-rotx1, 1-roty1, 1-rotz1</span>, <span style="color:#0000AA">1-rotx2, 1-roty2, 1-rotz2</span>, ...
| + | |
| − |
| + | |
| − | <PositionInterpolator DEF='HumanoidRootTransInterp' key='0.0 1/481 2/481 3/481 ...' keyValue='<span style="color:#FF0000">0-tx 0-ty 0-tz</span>, <span style="color:#FF0000">1-tx 1-ty 1-tz</span>, ...'/>
| + | |
| − | <OrientationInterpolator DEF='HumanoidRootRotInterp' key='0.0 1/481 2/481 3/481 ...' keyValue='f(<span style="color:#FFAA00">0-rotx0, 0-roty0, 0-rotz0</span>), f(<span style="color:#FFAA00">1-rotx0, 1-roty0, 1-rotz0</span>), ...'/>
| + | |
| − | <OrientationInterpolator DEF='sacroiliacRotInterp' key='0.0 1/481 2/481 3/481 ...' keyValue='f(<span style="color:#00AA00">0-rotx1, 0-roty1, 0-rotz1</span>), f(<span style="color:#00AA00">1-rotx1, 1-roty1, 1-rotz1</span>), ... '/>
| + | |
| − | <OrientationInterpolator DEF='l_hipRotInterp' key='0.0 1/481 2/481 3/481 ...' keyValue='f(<span style="color:#0000AA">0-rotx2, 0-roty2, 0-rotz2</span>), f(<span style="color:#0000AA">1-rotx2, 1-roty2, 1-rotz2</span>), ...'/>
| + | |
| − | | + | |
| − | ==== 5e. Conversion algorithm observations ====
| + | |
| − | | + | |
| − | In essence this work tries to duplicate the BVH animation expressions using X3D.
| + | |
| − | | + | |
| − | As shown in the above example, there are differences in the orders of position and orientation values between BVH and X3D Interpolator nodes.
| + | |
| − | | + | |
| − | * In BVH, each frame includes a position x-y-z value for the root joint, and then 3-tuple Euler-angle rotation values for each and every one of the joints.
| + | |
| − | * In X3D Interpolator, each joint has all position and rotation values for each of the timed frames.
| + | |
| − | * There appears to be one-to-one correspondences between the data in BVH and the keyValue arrays in X3D.
| + | |
| − | * In effect this reordering simply resembles a matrix transposition (vertical colored columns for BVH are mapped to horizontal colored rows in X3D).
| + | |
| − | | + | |
| − | We see the following file size characteristics in this conversion of BVH data into X3D Interpolators:
| + | |
| − | | + | |
| − | * BVH does not need key arrays, because all time intervals are equal.
| + | |
| − | * X3D is somewhat more verbose since the same key arrays are duplicated for all joints. This duplication of key arrays can lead to larger file size, in text form, but data compression can eliminate the cost of array copies.
| + | |
| − | * There appears to be approximately the same amount of rotation information in each representation.
| + | |
| − | * BVH has no ROUTE definitions. Typically there is only one ROUTE statement for the output of each node for each H-Anim humanoid. (There may be multiple ROUTEs for each node if there are multiple humanoids.)
| + | |
| − | | + | |
| − | Additional notes:
| + | |
| − | * Time-based frame-by-frame expression is appropriate for animation sequences such as BVH, i.e. a frame includes a time stamp, a single position, and orientation values of all joints.
| + | |
| − | * X3D viewers only use axis-angle SFRotation values, not quaternions and not Euler angles. For example, in an X3D OrientationInterpolator, if (1 0 0 0.5) means x-axis rotation with 0.5 radian, then (1 1 1 0.5) means an arbitrary axis from (0 0 0) to (1 1 1) with 0.5 radian rotation about that axis, using the right-hand rule for direction.
| + | |
| − | | + | |
| − | * Define the function f(phi,theta,psi) for converting a single BVH Euler-angle triplet into a single X3D SFRotation axis-angle value.
| + | |
| − | | + | |
| − | As shown in the BVH hierarchy as below,
| + | |
| − | ------------------------------------------
| + | |
| − | HIERARCHY
| + | |
| − | ROOT Hips
| + | |
| − | {
| + | |
| − | OFFSET 0.000000 0.000000 0.000000
| + | |
| − | CHANNELS 6 Xposition Yposition Zposition Zrotation Xrotation Yrotation
| + | |
| − | JOINT Chest
| + | |
| − | {
| + | |
| − | OFFSET 0.000000 5.613096 0.000000
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | JOINT LeftCollar
| + | |
| − | {
| + | |
| − | OFFSET 0.003804 10.354579 1.025227
| + | |
| − | CHANNELS 3 Zrotation Xrotation Yrotation
| + | |
| − | JOINT LeftShoulder
| + | |
| − | {
| + | |
| − | | + | |
| − | In this BVH file, the order of one BVH Euler angle is z, x, y, while an X3D SFRotation includes the order of axes, x, y, z.
| + | |
| − | So we must be careful that the order of angles in an Euler triple is different from the order of axes in an X3D SFRotation.
| + | |
| − | | + | |
| − | ==== 6. Conversion algorithm details ====
| + | |
| − | | + | |
| − | (TODO: verify)
| + | |
| − | | + | |
| − | The transformation from BVH Euler angles to SFRotation is considered as follow:
| + | |
| − | | + | |
| − | Simply speaking, we must transform a triple value (x-rot y-rot z-rot angles in degree) into a quadruple value (x y z w angle in radian).
| + | |
| − | Therefore, our transformation algorithm is as follows:
| + | |
| − | | + | |
| − | 1) Choose the largest rotation angle among the three Euler angles.
| + | |
| − | | + | |
| − | 2) Define the axis value as 1 for the rotation axis with the largest rotation angle for the quadruple.
| + | |
| − | | + | |
| − | 3) Convert the largest angle in degrees into angle in radian, and this will be w for the quadruple.
| + | |
| − | | + | |
| − | 4) The remaining axis values are calculated from the proportion of the rotation angle against the largest rotation angle.
| + | |
| − |
| + | |
| − | For example, consider Euler angles (in degrees) x=90, y=45, z=-180.
| + | |
| − | * From the algorithm, SFRotation is x=0.5, y=0.25, z=-1, w=3.14
| + | |
| − | * For another example, consider Euler angles x=30, y=30, z=30.
| + | |
| − | * From the algorithm, SFRotation is x=1, y=1, z=1, w=3.14/6.
| + | |
| − | | + | |
| − | The following is the implementation code of the algorithm:
| + | |
| − |
| + | |
| − | void HAnim::ConvertEulerToSFRotation(float& x, float& y, float& z, float& w)
| + | |
| − | {
| + | |
| − | #define piover180 0.01745329252f
| + | |
| − |
| + | |
| − | float fAbsoluteX = abs(x);
| + | |
| − | float fAbsoluteY = abs(y);
| + | |
| − | float fAbsoluteZ = abs(z);
| + | |
| − |
| + | |
| − | float fMaxAngle = 0;
| + | |
| − |
| + | |
| − | if(fAbsoluteX > fMaxAngle)
| + | |
| − | fMaxAngle = fAbsoluteX;
| + | |
| − | if(fAbsoluteY > fMaxAngle)
| + | |
| − | fMaxAngle = fAbsoluteY;
| + | |
| − | if(fAbsoluteZ > fMaxAngle)
| + | |
| − | fMaxAngle = fAbsoluteZ;
| + | |
| − |
| + | |
| − | float fRatio = 0.0f;
| + | |
| − |
| + | |
| − | if(fMaxAngle > 0.0001f)
| + | |
| − | fRatio = 1.0f / fMaxAngle;
| + | |
| − |
| + | |
| − | x = x * fRatio;
| + | |
| − | y = y * fRatio;
| + | |
| − | z = z * fRatio;
| + | |
| − |
| + | |
| − | w = fMaxAngle * piover180;
| + | |
| − | w = abs(w);
| + | |
| − | }
| + | |
| − | | + | |
| − | ----
| + | |
| − | | + | |
| − | === 7. How to convert? ===
| + | |
| − | | + | |
| − | TODO: the remaining section has extra information that can be integrated into the preceding sections.
| + | |
| − | | + | |
| − | With a little more work, we can then combine the pieces to show corresponding animations in HAnim and BVH.
| + | |
| − | We can build an application program that uses these mappings.
| + | |
| − | * This conversion program operates off-line, not within an X3D scene, because X3D does not allow reading files.
| + | |
| − | | + | |
| − | Wikipedia articles of interest:
| + | |
| − | * [http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles Conversion between quaternions and Euler angles]
| + | |
| − | * [https://en.wikipedia.org/wiki/Rotation_formalisms_in_three_dimensions Rotation formalisms in three dimensions]
| + | |
| − | ** 1.2 Euler axis and angle (rotation vector) matches the X3D SFRotation
| + | |
| − | ** 2.2 Rotation matrix ↔ Euler axis/angle
| + | |
| − | | + | |
| − | It looks like choosing the right matrix operations will perform this conversion. This requires careful composition of rotation matrix operations.
| + | |
