OBJ format contains information about the mesh of an object (or character) and materials. However, it does not contain (does not support) information about the bone structure. As such it is not a good format for transferring characters because if you export into OBJ format you would loose all the bone information. Basically you would end up importing a static character into iClone which would not be able to move. It would be sort of like taking a plastic mold of your character and then bringing it into iClone as a static prop.
FBX format, on the other hand, can hold information about the mesh, the material as well as the bone structure and weight paint information (how the mesh bends with respect to the bones). Thus when you export in FBX format you are exporting all the necessary information need to be able to re-create the character as a fully functioning character as opposed to a "mold of a character".
If you really want to export as OBJ, it is possible but will result in more work. Basically you:
1. Export your meshes as OBJ
2. Open a standard iClone character FBX file in Blender (or similar software).
You can get one from Reallusion website or export one from CC (unlike other export which need Pipeline for exporting FBX files, the nude character export does not require Pipeline).
3. Load in all your OBJ files meshes
4. Attach the OBJ files to the standard character armature
5. Transfer weight maps from the existing meshes to your new ones (or weight paint your meshes yourself)
6. Delete the original body meshes
This process is very similar to how CC Clothing is made for CC characters. I have done it a number of times. I can't guarantee that this will resolve your issue but this is what you would need to do in order to create a functional iClone character using OBJ files.
Step 4 is what causes your meshes to get attached to the iClone character bone structure so that when bones are moved in iClone it will causes your OBJ meshes to move.
Step 5 determines how meshes move with respect to each bone (because, obviously, different bones have effects on different parts of the body). If you replacement OBJ meshes are very close to the meshes were on the original character then you can just transfer the weight maps from the original body parts. Blender has a Transfer function for doing this automatically. If the body parts are significantly different then you will either need to transfer the weight maps and then fix them up or you will need to create them from scratch. If you are not familiar with weight mapping, it is not too difficult to learn and there are many YouTube videos that teach the concept (in Blender). I am guessing that for your minotaur you can probably get away with just transferring weight maps from the original body parts because the minotaur still has all the same body parts as a human.
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