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Updated Blender Import Script #139

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179 changes: 136 additions & 43 deletions Blender/import_modular_robots.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@
import traceback
from typing import Annotated, Literal, TypeVar

import bmesh
import bpy
import numpy as np
import numpy.typing as npt
Expand All @@ -33,8 +32,35 @@ def get_exception_traceback_str(exc: Exception) -> str:
traceback.print_exception(exc, file=file)
return file.getvalue().rstrip()

def euler_from_dir(dir_vec:Vec3, up:Vec3=np.array([0, 0, 1])):
# Normalize forward direction
fwd = -dir_vec / np.linalg.norm(dir_vec)

# Compute right vector
right = np.cross(up, fwd)
if np.linalg.norm(right) < 1e-6: # forward ∥ up
right = np.array([0, -1, 0])
else:
right /= np.linalg.norm(right)

# Re‑orthogonalize up vector
true_up = np.cross(fwd, right)

# Rotation matrix: columns = right, up, forward
R = np.column_stack((right, true_up, fwd))

# XYZ Euler extraction
pitch = -np.arcsin(-R[2, 1]) # rotation about X
yaw = np.arctan2(R[2, 0], R[2, 2]) # rotation about Y
roll = -np.arctan2(R[0, 1], R[1, 1]) # rotation about Z

return np.array([pitch, yaw, roll])

def srgb(rgb_perceptual):
return np.array([pow(channel if channel is float else channel / 255.0, 2.2) for channel in rgb_perceptual])

def new_cube_mesh(name="CubeMesh", size=1.0):
import bmesh
mesh = bpy.data.meshes.new(name)

bm = bmesh.new()
Expand Down Expand Up @@ -76,6 +102,7 @@ def new_line_art(name:str,color:Vec3,width,collection):
mod.radius = width
mod.target_layer = "Line Art"
mod.target_material = material
# mod.crease_threshold = 0.78
return gp_obj

def new_sun_light(name:str, euler:Vec3, collection):
Expand All @@ -86,15 +113,16 @@ def new_sun_light(name:str, euler:Vec3, collection):
light_data.temperature = 6500
light_data.angle = 0.2
sun_obj.rotation_euler = (*euler,)
sun_obj.location = (0,0,3)
return sun_obj


def new_camera(name:str, pos:Vec3, collection):
cam_data = bpy.data.cameras.new("Camera")
cam_obj = bpy.data.objects.new("Camera", cam_data)
def new_camera(name:str, pos:Vec3, focus:Vec3, collection):
cam_data = bpy.data.cameras.new(name)
cam_obj = bpy.data.objects.new(name, cam_data)
collection.objects.link(cam_obj)
cam_obj.location = (*pos,)
cam_obj.rotation_euler = (0.95, 0.0, 2.35)
cam_obj.rotation_euler = euler_from_dir(focus-pos) #(0.95, 0.0, 2.35)
return cam_obj

def new_shadow_catcher_material(name:str):
Expand Down Expand Up @@ -141,7 +169,7 @@ def new_shadow_catcher_material(name:str):
new_node.data_type = 'RGBA'
new_node.factor_mode = 'UNIFORM'
new_node.warning_propagation = 'ALL'
new_node.inputs[6].default_value = [0.0, 0.0, 0.0, 1.0]
new_node.inputs[6].default_value = [0.2, 0.2, 0.25, 1.0]
new_node.inputs[7].default_value = [1.0, 1.0, 1.0, 1.0]

new_node = nodes.new(type='ShaderNodeMath')
Expand Down Expand Up @@ -177,7 +205,49 @@ def new_shadow_catcher_material(name:str):
links.new(nodes["Math.001"].outputs[0], nodes["Math"].inputs[1])
return new_mat

def new_background_material(world, color:Vec3=np.ones(3), strength:float=32):
node_tree = world.node_tree
nodes = node_tree.nodes
nodes.clear()
links = node_tree.links

lightpath = nodes.new("ShaderNodeLightPath")

lightbackground = nodes.new("ShaderNodeBackground")
lightbackground.name = "Light"
lightbackground.inputs["Color"].default_value = (*(np.ones(3)/3), 1.0)

viewportbackground = nodes.new("ShaderNodeBackground")
viewportbackground.name = "Viewport"
viewportbackground.inputs["Color"].default_value = (*color, 1.0)
viewportbackground.inputs["Strength"].default_value = strength

mix = nodes.new("ShaderNodeMixShader")
output = nodes.new("ShaderNodeOutputWorld")
output.inputs["Surface"].show_expanded = True
links.new(
lightpath.outputs["Is Camera Ray"],
mix.inputs["Factor"]
)

links.new(
lightbackground.outputs["Background"],
mix.inputs[1]
)

links.new(
viewportbackground.outputs["Background"],
mix.inputs[2]
)

links.new(
mix.outputs["Shader"],
output.inputs["Surface"]
)


def new_ground_plane(name:str, pos:int, collection):
import bmesh
mesh = bpy.data.meshes.new(name)

bm = bmesh.new()
Expand All @@ -192,11 +262,9 @@ def new_ground_plane(name:str, pos:int, collection):

return plane_obj



class UMLScenario:
class RobotType:
def __init__(self, identifier: int, color: Vec3[np.float32],
def __init__(self, identifier: int, color: Vec3,
size: float):
self.identifier = identifier
self.color = color
Expand Down Expand Up @@ -259,58 +327,62 @@ def __init__(self, name: str = None,
self.robot_types: dict[int, UMLScenario.RobotType] = robot_types
self.robots: dict[int, UMLScenario.Robot] = robots
self.steps: list[UMLScenario.Step] = steps
self.camera_pos:Vec3 = np.array([10,9.7,10])
self.camera_focus:Vec3 = np.zeros(3)

def __str__(self):
return f"UMLScenario(#types: {len(self.robot_types)}, #robots: {len(self.robots)}, #steps: {len(self.steps)})"

@staticmethod
def from_file(f):
scenario = UMLScenario()
in_block = -1
# -1 = Header
# 0 = Robot Types
# 1 = Robots
# >=2 = Frames
lines = iter(f)

def stripped_scen_line(l: str):
l = l.strip()
if "//" in l:
l = l[:l.find("//")].strip()
return l
return l[:l.find("//")].strip(), l[l.find("//")+2:].strip()
return l, None

def values_from_scen_line(l: str):
return map(lambda s: int(s), line.replace(" ", "").split(","))
return map(lambda s: float(s) if "." in s else int(s), l.replace(" ", "").split(","))

# Heading
for line in lines:
if len(line.strip()) == 0:
break
line = stripped_scen_line(line)
line,comment = stripped_scen_line(line)
if not scenario.name:
scenario.name = line
if comment:
if comment.startswith("camera_pos"):
scenario.camera_pos = np.array(list(values_from_scen_line(comment[len("camera_pos "):])))
if comment.startswith("camera_focus"):
scenario.camera_focus = np.array(list(values_from_scen_line(comment[len("camera_focus "):])))

# Robot types
for line in lines:
if len(line.strip()) == 0:
break
line = stripped_scen_line(line)
line,comment = stripped_scen_line(line)

[identifier, r, g, b, size] = values_from_scen_line(line)
rtype = UMLScenario.RobotType(identifier,
np.array([r, g, b]) / 255.0,
size / 100.0)
scenario.robot_types[identifier] = rtype
if len(line) > 0:
[identifier, r, g, b, size] = values_from_scen_line(line)
rtype = UMLScenario.RobotType(identifier,
srgb(np.array([r,g,b])),
size / 100.0)
scenario.robot_types[identifier] = rtype

# Robots
for line in lines:
if len(line.strip()) == 0:
break
line = stripped_scen_line(line)
line,comment = stripped_scen_line(line)

[identifier, rtype, x, y, z] = values_from_scen_line(line)
robot = UMLScenario.Robot(identifier, rtype, np.array([x, y, z]))
scenario.robots[identifier] = robot
if len(line) > 0:
[identifier, rtype, x, y, z] = values_from_scen_line(line)
robot = UMLScenario.Robot(identifier, rtype, np.array([x, y, z]))
scenario.robots[identifier] = robot

# Steps
scenario.steps.append(UMLScenario.Step())
Expand All @@ -320,19 +392,20 @@ def values_from_scen_line(l: str):
scenario.steps.append(UMLScenario.Step())
continue

line = stripped_scen_line(line)
line,comment = stripped_scen_line(line)

while line.startswith("*"):
line = line[1:]
scenario.steps[-1].break_before = True
if len(line) > 0:
while line.startswith("*"):
line = line[1:]
scenario.steps[-1].break_before = True

[identifier, mtype, x, y, z] = values_from_scen_line(line)
move = UMLScenario.RobotMove(identifier, mtype, np.array([x, y, z]))
scenario.steps[-1].moves.append(move)
[identifier, mtype, x, y, z] = values_from_scen_line(line)
move = UMLScenario.RobotMove(identifier, mtype, np.array([x, y, z]))
scenario.steps[-1].moves.append(move)

return scenario

def create_in_blender(self, keyframes_per_step: int, pause_keyframes: int):
def create_in_blender(self, keyframes_per_step: int, pause_keyframes: int,preheat_by_robot:int=3):
scen_coll = bpy.data.collections.new(self.name)
bpy.context.scene.collection.children.link(scen_coll)

Expand Down Expand Up @@ -364,6 +437,16 @@ def create_in_blender(self, keyframes_per_step: int, pause_keyframes: int):
scen_coll.objects.link(robot)
robots[robot_data.identifier] = robot

preheat = len(robots) * preheat_by_robot
keyframe += preheat
if preheat_by_robot:
for (identifier, robot) in robots.items():
robot.keyframe_insert("delta_scale", frame=preheat_by_robot*identifier)
robot.delta_scale = (0,0,0)
robot.keyframe_insert("delta_scale", frame=1)
robot.keyframe_insert("delta_scale", frame=preheat_by_robot*(identifier-3))


for step in self.steps:
if step.break_before:
keyframe += keyframes_per_step
Expand Down Expand Up @@ -391,9 +474,10 @@ def create_in_blender(self, keyframes_per_step: int, pause_keyframes: int):
keyframe += pause_keyframes

new_line_art("Line Art", np.zeros(3), 0.05, scen_coll)
new_sun_light("SunLight", np.array([0.7854,0,0.7854]), scen_coll)
new_camera("Camera", np.ones(3) * 10, scen_coll)
new_sun_light("SunLight", np.array([0.47,0,-0.47]), scen_coll)
new_camera("Camera", pos=self.camera_pos, collection=scen_coll, focus=self.camera_focus)
new_ground_plane("GroundPlane", min_z - 0.5, scen_coll)
new_background_material(bpy.context.scene.world)
bpy.context.scene.frame_end = keyframe + keyframes_per_step


Expand All @@ -412,25 +496,34 @@ class ScenarioImportHelper(bpy.types.Operator, ImportHelper):
)
steps: bpy.props.IntProperty(
name="Frames per Step",
default=30,
default=24,
min=1,
)
freeze_steps: bpy.props.IntProperty(
name="Freeze Frames",
default=5,
default=0,
min=0,
)
spawn_animation: bpy.props.BoolProperty(
name="Spawn Animation",
default=False
)

def draw(self, context):
layout = self.layout
row = layout.row(align=True)
row.prop(self, "steps")
row = layout.row(align=True)
row.prop(self, "freeze_steps")
row = layout.row(align=True)
row.prop(self, "spawn_animation")

def execute(self, context):
try:
return self.load_scenario_data(self.filepath,
keyframe_step=int(self.steps),
freeze_step=int(self.freeze_steps))
freeze_step=int(self.freeze_steps),
spawn_animation=bool(self.spawn_animation) * 3)
except Exception as e:
self.report({'ERROR'},
f"Failed to read JSON: {get_exception_traceback_str(e)}")
Expand All @@ -442,7 +535,7 @@ def menu_import(self, context):
text="Modular Robots (.scen)"
)

def load_scenario_data(self, path, keyframe_step=10, freeze_step=5):
def load_scenario_data(self, path, keyframe_step=10, freeze_step=5, spawn_animation:int=0):
scenario: UMLScenario | None = None

with (open(path, 'r', encoding='utf-8') as f):
Expand All @@ -457,7 +550,7 @@ def load_scenario_data(self, path, keyframe_step=10, freeze_step=5):
if not scenario.name:
scenario.name = pathlib.Path(path).stem

scenario.create_in_blender(keyframe_step, freeze_step)
scenario.create_in_blender(keyframe_step, freeze_step, spawn_animation)

return {'FINISHED'}

Expand Down