diff options
Diffstat (limited to 'rigify/legacy/rigs/biped/leg/ik.py')
| -rw-r--r-- | rigify/legacy/rigs/biped/leg/ik.py | 350 |
1 files changed, 0 insertions, 350 deletions
diff --git a/rigify/legacy/rigs/biped/leg/ik.py b/rigify/legacy/rigs/biped/leg/ik.py deleted file mode 100644 index 82422e27..00000000 --- a/rigify/legacy/rigs/biped/leg/ik.py +++ /dev/null @@ -1,350 +0,0 @@ -#====================== BEGIN GPL LICENSE BLOCK ====================== -# -# This program is free software; you can redistribute it and/or -# modify it under the terms of the GNU General Public License -# as published by the Free Software Foundation; either version 2 -# of the License, or (at your option) any later version. -# -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. -# -# You should have received a copy of the GNU General Public License -# along with this program; if not, write to the Free Software Foundation, -# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. -# -#======================= END GPL LICENSE BLOCK ======================== - -# <pep8 compliant> - -import bpy -from mathutils import Vector - -from .. import limb_common - -from ....utils import MetarigError -from ....utils import align_bone_x_axis -from ....utils import copy_bone, flip_bone, put_bone -from ....utils import connected_children_names, has_connected_children -from ....utils import strip_org, make_mechanism_name, insert_before_lr -from ....utils import create_widget, create_circle_widget - - -class Rig: - """ An IK leg rig, with an optional ik/fk switch. - - """ - def __init__(self, obj, bone, params, ikfk_switch=False): - """ Gather and validate data about the rig. - Store any data or references to data that will be needed later on. - In particular, store references to bones that will be needed, and - store names of bones that will be needed. - Do NOT change any data in the scene. This is a gathering phase only. - """ - self.obj = obj - self.params = params - self.switch = ikfk_switch - - # Get the chain of 2 connected bones - leg_bones = [bone] + connected_children_names(self.obj, bone)[:2] - - if len(leg_bones) != 2: - raise MetarigError("RIGIFY ERROR: Bone '%s': incorrect bone configuration for rig type" % (strip_org(bone))) - - # Get the foot and heel - foot = None - heel = None - rocker = None - for b in self.obj.data.bones[leg_bones[1]].children: - if b.use_connect is True: - if len(b.children) >= 1 and has_connected_children(b): - foot = b.name - else: - heel = b.name - if len(b.children) > 0: - rocker = b.children[0].name - - if foot is None or heel is None: - print("blah") - raise MetarigError("RIGIFY ERROR: Bone '%s': incorrect bone configuration for rig type" % (strip_org(bone))) - - # Get the toe - toe = None - for b in self.obj.data.bones[foot].children: - if b.use_connect is True: - toe = b.name - - # Get toe - if toe is None: - raise MetarigError("RIGIFY ERROR: Bone '%s': incorrect bone configuration for rig type" % (strip_org(bone))) - - self.org_bones = leg_bones + [foot, toe, heel, rocker] - - # Get rig parameters - if params.separate_ik_layers: - self.layers = list(params.ik_layers) - else: - self.layers = None - bend_hint = params.bend_hint - primary_rotation_axis = params.primary_rotation_axis - pole_target_base_name = self.params.knee_base_name + "_target" - - # Leg is based on common limb - self.ik_limb = limb_common.IKLimb(obj, self.org_bones[0], self.org_bones[1], self.org_bones[2], self.org_bones[2], pole_target_base_name, primary_rotation_axis, bend_hint, self.layers, ikfk_switch) - - def generate(self): - """ Generate the rig. - Do NOT modify any of the original bones, except for adding constraints. - The main armature should be selected and active before this is called. - """ - # Generate base IK limb - bone_list = self.ik_limb.generate() - thigh = bone_list[0] - shin = bone_list[1] - foot = bone_list[2] - foot_mch = bone_list[3] - pole = bone_list[4] - # vispole = bone_list[5] - # visfoot = bone_list[6] - - # Build IK foot rig - bpy.ops.object.mode_set(mode='EDIT') - make_rocker = False - if self.org_bones[5] is not None: - make_rocker = True - - # Create the bones - toe = copy_bone(self.obj, self.org_bones[3], strip_org(self.org_bones[3])) - toe_parent = copy_bone(self.obj, self.org_bones[2], make_mechanism_name(strip_org(self.org_bones[3] + ".parent"))) - toe_parent_socket1 = copy_bone(self.obj, self.org_bones[2], make_mechanism_name(strip_org(self.org_bones[3] + ".socket1"))) - toe_parent_socket2 = copy_bone(self.obj, self.org_bones[2], make_mechanism_name(strip_org(self.org_bones[3] + ".socket2"))) - - foot_roll = copy_bone(self.obj, self.org_bones[4], strip_org(insert_before_lr(self.org_bones[2], "_roll.ik"))) - roll1 = copy_bone(self.obj, self.org_bones[4], make_mechanism_name(strip_org(self.org_bones[2] + ".roll.01"))) - roll2 = copy_bone(self.obj, self.org_bones[4], make_mechanism_name(strip_org(self.org_bones[2] + ".roll.02"))) - - if make_rocker: - rocker1 = copy_bone(self.obj, self.org_bones[5], make_mechanism_name(strip_org(self.org_bones[2] + ".rocker.01"))) - rocker2 = copy_bone(self.obj, self.org_bones[5], make_mechanism_name(strip_org(self.org_bones[2] + ".rocker.02"))) - - # Get edit bones - eb = self.obj.data.edit_bones - - org_foot_e = eb[self.org_bones[2]] - foot_e = eb[foot] - foot_ik_target_e = eb[foot_mch] - toe_e = eb[toe] - toe_parent_e = eb[toe_parent] - toe_parent_socket1_e = eb[toe_parent_socket1] - toe_parent_socket2_e = eb[toe_parent_socket2] - foot_roll_e = eb[foot_roll] - roll1_e = eb[roll1] - roll2_e = eb[roll2] - if make_rocker: - rocker1_e = eb[rocker1] - rocker2_e = eb[rocker2] - - # Parenting - foot_ik_target_e.use_connect = False - foot_ik_target_e.parent = roll2_e - - toe_e.parent = toe_parent_e - toe_parent_e.use_connect = False - toe_parent_e.parent = toe_parent_socket1_e - toe_parent_socket1_e.use_connect = False - toe_parent_socket1_e.parent = roll1_e - toe_parent_socket2_e.use_connect = False - toe_parent_socket2_e.parent = eb[self.org_bones[2]] - - foot_roll_e.use_connect = False - foot_roll_e.parent = foot_e - - roll1_e.use_connect = False - roll1_e.parent = foot_e - - roll2_e.use_connect = False - roll2_e.parent = roll1_e - - if make_rocker: - rocker1_e.use_connect = False - rocker2_e.use_connect = False - - roll1_e.parent = rocker2_e - rocker2_e.parent = rocker1_e - rocker1_e.parent = foot_e - - # Positioning - vec = Vector(toe_e.vector) - vec.normalize() - foot_e.tail = foot_e.head + (vec * foot_e.length) - foot_e.roll = toe_e.roll - - flip_bone(self.obj, toe_parent_socket1) - flip_bone(self.obj, toe_parent_socket2) - toe_parent_socket1_e.head = Vector(org_foot_e.tail) - toe_parent_socket2_e.head = Vector(org_foot_e.tail) - toe_parent_socket1_e.tail = Vector(org_foot_e.tail) + (Vector((0, 0, 1)) * foot_e.length / 2) - toe_parent_socket2_e.tail = Vector(org_foot_e.tail) + (Vector((0, 0, 1)) * foot_e.length / 3) - toe_parent_socket2_e.roll = toe_parent_socket1_e.roll - - tail = Vector(roll1_e.tail) - roll1_e.tail = Vector(org_foot_e.tail) - roll1_e.tail = Vector(org_foot_e.tail) - roll1_e.head = tail - roll2_e.head = Vector(org_foot_e.tail) - foot_roll_e.head = Vector(org_foot_e.tail) - put_bone(self.obj, foot_roll, roll1_e.head) - foot_roll_e.length /= 2 - - roll_axis = roll1_e.vector.cross(org_foot_e.vector) - align_bone_x_axis(self.obj, roll1, roll_axis) - align_bone_x_axis(self.obj, roll2, roll_axis) - foot_roll_e.roll = roll2_e.roll - - if make_rocker: - d = toe_e.y_axis.dot(rocker1_e.x_axis) - if d >= 0.0: - flip_bone(self.obj, rocker2) - else: - flip_bone(self.obj, rocker1) - - # Object mode, get pose bones - bpy.ops.object.mode_set(mode='OBJECT') - pb = self.obj.pose.bones - - foot_p = pb[foot] - foot_roll_p = pb[foot_roll] - roll1_p = pb[roll1] - roll2_p = pb[roll2] - if make_rocker: - rocker1_p = pb[rocker1] - rocker2_p = pb[rocker2] - toe_p = pb[toe] - # toe_parent_p = pb[toe_parent] - toe_parent_socket1_p = pb[toe_parent_socket1] - - # Foot roll control only rotates on x-axis, or x and y if rocker. - foot_roll_p.rotation_mode = 'XYZ' - if make_rocker: - foot_roll_p.lock_rotation = False, False, True - else: - foot_roll_p.lock_rotation = False, True, True - foot_roll_p.lock_location = True, True, True - foot_roll_p.lock_scale = True, True, True - - # roll and rocker bones set to euler rotation - roll1_p.rotation_mode = 'XYZ' - roll2_p.rotation_mode = 'XYZ' - if make_rocker: - rocker1_p.rotation_mode = 'XYZ' - rocker2_p.rotation_mode = 'XYZ' - - # toe_parent constraint - con = toe_parent_socket1_p.constraints.new('COPY_LOCATION') - con.name = "copy_location" - con.target = self.obj - con.subtarget = toe_parent_socket2 - - con = toe_parent_socket1_p.constraints.new('COPY_SCALE') - con.name = "copy_scale" - con.target = self.obj - con.subtarget = toe_parent_socket2 - - con = toe_parent_socket1_p.constraints.new('COPY_TRANSFORMS') # drive with IK switch - con.name = "fk" - con.target = self.obj - con.subtarget = toe_parent_socket2 - - fcurve = con.driver_add("influence") - driver = fcurve.driver - var = driver.variables.new() - driver.type = 'AVERAGE' - var.name = "var" - var.targets[0].id_type = 'OBJECT' - var.targets[0].id = self.obj - var.targets[0].data_path = foot_p.path_from_id() + '["ikfk_switch"]' - mod = fcurve.modifiers[0] - mod.poly_order = 1 - mod.coefficients[0] = 1.0 - mod.coefficients[1] = -1.0 - - # Foot roll drivers - fcurve = roll1_p.driver_add("rotation_euler", 0) - driver = fcurve.driver - var = driver.variables.new() - driver.type = 'SCRIPTED' - driver.expression = "min(0,var)" - var.name = "var" - var.targets[0].id_type = 'OBJECT' - var.targets[0].id = self.obj - var.targets[0].data_path = foot_roll_p.path_from_id() + '.rotation_euler[0]' - - fcurve = roll2_p.driver_add("rotation_euler", 0) - driver = fcurve.driver - var = driver.variables.new() - driver.type = 'SCRIPTED' - driver.expression = "max(0,var)" - var.name = "var" - var.targets[0].id_type = 'OBJECT' - var.targets[0].id = self.obj - var.targets[0].data_path = foot_roll_p.path_from_id() + '.rotation_euler[0]' - - if make_rocker: - fcurve = rocker1_p.driver_add("rotation_euler", 0) - driver = fcurve.driver - var = driver.variables.new() - driver.type = 'SCRIPTED' - driver.expression = "max(0,-var)" - var.name = "var" - var.targets[0].id_type = 'OBJECT' - var.targets[0].id = self.obj - var.targets[0].data_path = foot_roll_p.path_from_id() + '.rotation_euler[1]' - - fcurve = rocker2_p.driver_add("rotation_euler", 0) - driver = fcurve.driver - var = driver.variables.new() - driver.type = 'SCRIPTED' - driver.expression = "max(0,var)" - var.name = "var" - var.targets[0].id_type = 'OBJECT' - var.targets[0].id = self.obj - var.targets[0].data_path = foot_roll_p.path_from_id() + '.rotation_euler[1]' - - # Constrain toe bone to toe control - con = pb[self.org_bones[3]].constraints.new('COPY_TRANSFORMS') - con.name = "copy_transforms" - con.target = self.obj - con.subtarget = toe - - # Set layers if specified - if self.layers: - foot_roll_p.bone.layers = self.layers - toe_p.bone.layers = [(i[0] or i[1]) for i in zip(toe_p.bone.layers, self.layers)] # Both FK and IK layers - - # Create widgets - create_circle_widget(self.obj, toe, radius=0.7, head_tail=0.5) - - ob = create_widget(self.obj, foot_roll) - if ob is not None: - verts = [(0.3999999761581421, 0.766044557094574, 0.6427875757217407), (0.17668449878692627, 3.823702598992895e-08, 3.2084670920085046e-08), (-0.17668461799621582, 9.874240447516058e-08, 8.285470443070153e-08), (-0.39999961853027344, 0.7660449147224426, 0.6427879333496094), (0.3562471270561218, 0.6159579753875732, 0.5168500542640686), (-0.35624682903289795, 0.6159582138061523, 0.5168502926826477), (0.20492683351039886, 0.09688037633895874, 0.0812922865152359), (-0.20492687821388245, 0.0968804731965065, 0.08129236847162247)] - edges = [(1, 2), (0, 3), (0, 4), (3, 5), (1, 6), (4, 6), (2, 7), (5, 7)] - mesh = ob.data - mesh.from_pydata(verts, edges, []) - mesh.update() - - mod = ob.modifiers.new("subsurf", 'SUBSURF') - mod.levels = 2 - - ob = create_widget(self.obj, foot) - if ob is not None: - verts = [(0.7, 1.5, 0.0), (0.7, -0.25, 0.0), (-0.7, -0.25, 0.0), (-0.7, 1.5, 0.0), (0.7, 0.723, 0.0), (-0.7, 0.723, 0.0), (0.7, 0.0, 0.0), (-0.7, 0.0, 0.0)] - edges = [(1, 2), (0, 3), (0, 4), (3, 5), (4, 6), (1, 6), (5, 7), (2, 7)] - mesh = ob.data - mesh.from_pydata(verts, edges, []) - mesh.update() - - mod = ob.modifiers.new("subsurf", 'SUBSURF') - mod.levels = 2 - - return [thigh, shin, foot, pole, foot_roll, foot_mch] |