animation/characters/work/mako/02_graft.py

# Mako work lane, stage 02: graft AccuRig skeleton + weights onto the fullhead GLB.
# Direct adaptation of work/lena/46_graft.py — sole difference: the target is the GLB itself
# (the mako lane has no .blend master; the GLB is the source of truth).
#
#   blender --background --python 02_graft.py -- <target.glb> <rigged.fbx> <out.blend> <out.glb>
#
#   blender --background --python 46_graft.py -- <target.glb> <rigged.fbx> <out.blend> <out.glb>
#
# The lane's rule (`.agents/plans/rig-graft-lane-2026-08-04.md`): FBX is a disposable rig carrier,
# the GLB is the sole source of truth for mesh and materials, and it only ever GAINS bones and
# weights. So nothing here touches a vertex position, a UV, or a texture — the mesh that comes out
# is byte-for-byte v10's, and that is asserted at the end, not hoped for.
#
# INDEX-EXACT, not nearest-surface. The plan assumed a decimated bait would have to hand weights to
# a full-res mesh by proximity, which is where the July lane mangled the fingers (close-packed
# digits confuse a proximity search). AccuRig rigged the shipping mesh whole and returned the same
# 31,111 vertices in the same order, so weights copy index-to-index and the failure mode is gone.
#
# TWO CORRECTIONS, both SOLVED here rather than hardcoded. The carrier was exported at 1.700 m and
# AccuRig also shifted the body ~1.2 cm (the same family as the July lane's 4 cm offset trap). Both
# are recovered by least-squares fitting a uniform scale + translation between the two vertex sets,
# so this stays correct if either changes on a future re-rig.
import bpy, sys, os, time
import numpy as np
from mathutils import Vector, Matrix

argv = sys.argv[sys.argv.index("--") + 1:]
GLB, FBX, OUTB, OUTG = argv[0], argv[1], os.path.abspath(argv[2]), os.path.abspath(argv[3])
t0 = time.time()


def log(m):
    print(f"[graft {time.time()-t0:6.1f}s] {m}", flush=True)


bpy.ops.wm.read_factory_settings(use_empty=True)
bpy.ops.import_scene.gltf(filepath=GLB)
for _o in bpy.data.objects:
    if _o.type == "MESH":
        bpy.context.view_layer.objects.active = _o; _o.select_set(True)
bpy.ops.object.transform_apply(location=True, rotation=True, scale=True)
body = max([o for o in bpy.data.objects if o.type == 'MESH'], key=lambda o: len(o.data.vertices))
me = body.data
n = len(me.vertices)
V = np.empty(n * 3); me.vertices.foreach_get("co", V); V = V.reshape(-1, 3)
V_ref = V.copy()
log(f"target: '{body.name}' {n}v {len(me.polygons)}f  uv={[l.name for l in me.uv_layers]}")

before = {o.name for o in bpy.data.objects}
bpy.ops.import_scene.fbx(filepath=FBX)
new = [o for o in bpy.data.objects if o.name not in before]
arm = next(o for o in new if o.type == 'ARMATURE')
src = max([o for o in new if o.type == 'MESH'], key=lambda o: len(o.data.vertices))
log(f"carrier: armature '{arm.name}' {len(arm.data.bones)} bones, mesh {len(src.data.vertices)}v")

# AccuRig ships a "T-Pose" take, and Blender's importer binds it as an ACTION. An action re-applies
# its pose on every evaluation and on every file load, so clearing pose values while it exists is
# futile — the in-session assert passes, the saved file comes back posed, and the body deforms
# 1.25 units into the air with every edge length unchanged. Drop the animation data first.
dropped = []
for o in (arm, src):
    if o.animation_data:
        dropped.append(o.name)
        o.animation_data_clear()
    dat = o.data
    if dat and getattr(dat, "animation_data", None):
        dat.animation_data_clear()
    sk = getattr(dat, "shape_keys", None)
    if sk and sk.animation_data:
        sk.animation_data_clear()
for act in list(bpy.data.actions):
    if act.users == 0:
        bpy.data.actions.remove(act)
log(f"animation data cleared on {dropped}; actions left: {[a.name for a in bpy.data.actions]}")

assert len(src.data.vertices) == n, \
    f"vertex count differs ({len(src.data.vertices)} vs {n}) — index-exact graft is off the table"

# ---- recover scale + translation between carrier and target (order is preserved) ----
S = np.empty(n * 3); src.data.vertices.foreach_get("co", S); S = S.reshape(-1, 3)
M = np.array(src.matrix_world)
Sw = S @ M[:3, :3].T + M[:3, 3]
ca, cb = V.mean(axis=0), Sw.mean(axis=0)
A, B = V - ca, Sw - cb
s = float((A * B).sum() / (B * B).sum())
t = ca - s * cb
res = np.linalg.norm(V - (s * Sw + t), axis=1)
UNITM = 1.750 / (V[:, 2].max() - V[:, 2].min())
log(f"fit: scale {s:.6f} (1/{1/s:.6f})   translation {np.round(t, 6)} in target units")
log(f"  carrier offset removed: {np.round(-t / s * 1000, 3)} mm in carrier space")
log(f"  index-exact residual: mean {res.mean()*UNITM*1000:.4f} mm  p99 "
    f"{np.percentile(res,99)*UNITM*1000:.4f} mm  max {res.max()*UNITM*1000:.4f} mm")

# ---- move the skeleton into the target's space; the mesh never moves ----
arm.matrix_world = Matrix.Translation(Vector(t)) @ Matrix.Diagonal(
    Vector((s, s, s))).to_4x4() @ arm.matrix_world
bpy.ops.object.select_all(action='DESELECT')
arm.select_set(True)
bpy.context.view_layer.objects.active = arm
bpy.ops.object.transform_apply(location=True, rotation=True, scale=True)
log(f"armature placed; scale now {tuple(round(v,5) for v in arm.scale)}")

# Clear the carrier's POSE, and do it AFTER transform_apply. The mesh binds to the REST skeleton,
# so any pose riding along is pure displacement — and this FBX arrives with one. Clearing it by
# setting location/rotation/scale properties BEFORE the apply did not survive: transform_apply
# reintroduced non-identity rotations on the thigh and foot, the saved file deformed the body
# 1.25 units into the air, and every edge length stayed put — rigid motion, which reads as
# "weights are fine, model is gone". Use the pose operator, last, and assert it took.
bpy.ops.object.mode_set(mode='POSE')
bpy.ops.pose.select_all(action='SELECT')
bpy.ops.pose.transforms_clear()
bpy.ops.object.mode_set(mode='OBJECT')
bpy.context.view_layer.update()
worst_pb = max(np.abs(np.array(pb.matrix_basis) - np.eye(4)).max() for pb in arm.pose.bones)
log(f"pose cleared; largest deviation from identity across {len(arm.pose.bones)} bones: "
    f"{worst_pb:.2e}")
assert worst_pb < 1e-6, "pose did not clear — the bind would be displaced"

# ---- copy weights index-to-index ----
for vg in list(body.vertex_groups):
    body.vertex_groups.remove(vg)
name_of = {}
for g in src.vertex_groups:
    name_of[g.index] = g.name
    body.vertex_groups.new(name=g.name)
tgt = {g.name: g for g in body.vertex_groups}
copied = 0
for v in src.data.vertices:
    for g in v.groups:
        w = g.weight
        if w > 0.0:
            tgt[name_of[g.group]].add([v.index], w, 'REPLACE')
            copied += 1
log(f"copied {copied} weights into {len(body.vertex_groups)} groups")

# ---- bind ----
for m_ in list(body.modifiers):
    if m_.type == 'ARMATURE':
        body.modifiers.remove(m_)
mod = body.modifiers.new("Armature", 'ARMATURE')
mod.object = arm
body.parent = arm
body.matrix_parent_inverse = arm.matrix_world.inverted()

# ---- the carrier is disposable: nothing visual survives from the FBX ----
carrier_mats = [m_ for m_ in src.data.materials if m_]
bpy.data.objects.remove(src, do_unlink=True)
for m_ in carrier_mats:
    if m_.users == 0:
        bpy.data.materials.remove(m_)
for im in list(bpy.data.images):
    if im.users == 0 and im.name not in {"Render Result", "Viewer Node"}:
        bpy.data.images.remove(im)

# ---- verify ----
V2 = np.empty(n * 3); me.vertices.foreach_get("co", V2); V2 = V2.reshape(-1, 3)
moved = np.linalg.norm(V2 - V_ref, axis=1).max()
tot = np.zeros(n)
for v in me.vertices:
    tot[v.index] = sum(g.weight for g in v.groups)
print("\n=== VERIFY ===")
print(f"  mesh vertices moved: {moved*UNITM*1000:.6f} mm   (must be 0)")
print(f"  height {V2[:,2].max()-V2[:,2].min():.5f} units, feet min-Z {V2[:,2].min():+.6f}")
print(f"  weight sums: min {tot.min():.4f} mean {tot.mean():.4f} max {tot.max():.4f}")
print(f"  unweighted vertices: {int((tot < 1e-6).sum())}")
print(f"  bones {len(arm.data.bones)}   vertex groups {len(body.vertex_groups)}")
print(f"  uv layers {[l.name for l in me.uv_layers]}   materials "
      f"{[m_.name for m_ in me.materials if m_]}")
print(f"  images {[i.name for i in bpy.data.images if i.size[0]]}")
assert moved < 1e-9, "the mesh moved — the graft must be additive only"

# The rest mesh being right proves nothing: the armature modifier is what the engine will run.
# Evaluate it and require the deformed body to sit exactly where the undeformed one does.
dg = bpy.context.evaluated_depsgraph_get()
evo = body.evaluated_get(dg)
tmp = evo.to_mesh()
Dv = np.empty(len(tmp.vertices) * 3); tmp.vertices.foreach_get("co", Dv)
Dv = Dv.reshape(-1, 3)
evo.to_mesh_clear()
drift = np.linalg.norm(Dv - V_ref, axis=1).max() * UNITM * 1000
print(f"  DEFORMED at rest pose: z {Dv[:,2].min():.5f}..{Dv[:,2].max():.5f}  "
      f"max drift vs undeformed {drift:.6f} mm")
assert drift < 0.01, (f"the armature displaces the body by {drift:.3f} mm at rest — a leftover "
                      f"pose, not a weighting problem")

bpy.ops.wm.save_as_mainfile(filepath=OUTB)
bpy.ops.object.select_all(action='DESELECT')
arm.select_set(True); body.select_set(True)
bpy.context.view_layer.objects.active = arm
bpy.ops.export_scene.gltf(filepath=OUTG, export_format='GLB', use_selection=True,
                          export_image_format='AUTO', export_jpeg_quality=95,
                          export_yup=True, export_apply=False, export_skins=True)
log(f"EXPORTED {OUTG}  ({os.path.getsize(OUTG)/1e6:.2f} MB)")
print("GRAFT_DONE")