diff options
Diffstat (limited to 'rigify/rigs/biped/arm/ik.py')
| -rw-r--r-- | rigify/rigs/biped/arm/ik.py | 338 |
1 files changed, 338 insertions, 0 deletions
diff --git a/rigify/rigs/biped/arm/ik.py b/rigify/rigs/biped/arm/ik.py new file mode 100644 index 00000000..fb784b7d --- /dev/null +++ b/rigify/rigs/biped/arm/ik.py @@ -0,0 +1,338 @@ +#====================== 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 ======================== + +import bpy +from mathutils import Vector +from math import pi, acos +from rigify.utils import MetarigError +from rigify.utils import copy_bone +from rigify.utils import connected_children_names +from rigify.utils import strip_org, make_mechanism_name, insert_before_lr +from rigify.utils import create_widget, create_line_widget, create_sphere_widget +from rna_prop_ui import rna_idprop_ui_prop_get + + +def angle_on_plane(plane, vec1, vec2): + """ Return the angle between two vectors projected onto a plane. + """ + plane.normalize() + vec1 = vec1 - (plane * (vec1.dot(plane))) + vec2 = vec2 - (plane * (vec2.dot(plane))) + vec1.normalize() + vec2.normalize() + + # Determine the angle + angle = acos(max(-1.0, min(1.0, vec1.dot(vec2)))) + + if angle < 0.00001: # close enough to zero that sign doesn't matter + return angle + + # Determine the sign of the angle + vec3 = vec2.cross(vec1) + vec3.normalize() + sign = vec3.dot(plane) + if sign >= 0: + sign = 1 + else: + sign = -1 + + return angle * sign + + +class Rig: + """ An IK arm 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. + + ikfk_switch: if True, create an ik/fk switch slider + """ + self.obj = obj + self.params = params + self.switch = ikfk_switch + + # Get the chain of 3 connected bones + self.org_bones = [bone] + connected_children_names(self.obj, bone)[:2] + + if len(self.org_bones) != 3: + raise MetarigError("RIGIFY ERROR: Bone '%s': input to rig type must be a chain of 3 bones." % (strip_org(bone))) + + # Get the rig parameters + if params.separate_ik_layers: + self.layers = list(params.ik_layers) + else: + self.layers = None + + self.bend_hint = params.bend_hint + + self.primary_rotation_axis = params.primary_rotation_axis + + 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. + + """ + bpy.ops.object.mode_set(mode='EDIT') + + # Create the bones + uarm = copy_bone(self.obj, self.org_bones[0], make_mechanism_name(strip_org(insert_before_lr(self.org_bones[0], "_ik")))) + farm = copy_bone(self.obj, self.org_bones[1], make_mechanism_name(strip_org(insert_before_lr(self.org_bones[1], "_ik")))) + + hand = copy_bone(self.obj, self.org_bones[2], strip_org(insert_before_lr(self.org_bones[2], "_ik"))) + pole = copy_bone(self.obj, self.org_bones[0], strip_org(insert_before_lr(self.org_bones[0], "_pole"))) + + vishand = copy_bone(self.obj, self.org_bones[2], "VIS-" + strip_org(insert_before_lr(self.org_bones[2], "_ik"))) + vispole = copy_bone(self.obj, self.org_bones[1], "VIS-" + strip_org(insert_before_lr(self.org_bones[0], "_pole"))) + + # Get edit bones + eb = self.obj.data.edit_bones + + uarm_e = eb[uarm] + farm_e = eb[farm] + hand_e = eb[hand] + pole_e = eb[pole] + vishand_e = eb[vishand] + vispole_e = eb[vispole] + + # Parenting + farm_e.parent = uarm_e + + hand_e.use_connect = False + hand_e.parent = None + + pole_e.use_connect = False + + vishand_e.use_connect = False + vishand_e.parent = None + + vispole_e.use_connect = False + vispole_e.parent = None + + # Misc + hand_e.use_local_location = False + + vishand_e.hide_select = True + vispole_e.hide_select = True + + # Positioning + v1 = farm_e.tail - uarm_e.head + if 'X' in self.primary_rotation_axis or 'Y' in self.primary_rotation_axis: + v2 = v1.cross(farm_e.x_axis) + if (v2 * farm_e.z_axis) > 0.0: + v2 *= -1.0 + else: + v2 = v1.cross(farm_e.z_axis) + if (v2 * farm_e.x_axis) < 0.0: + v2 *= -1.0 + v2.normalize() + v2 *= v1.length + + if '-' in self.primary_rotation_axis: + v2 *= -1 + + pole_e.head = farm_e.head + v2 + pole_e.tail = pole_e.head + (Vector((0, 1, 0)) * (v1.length / 8)) + pole_e.roll = 0.0 + + vishand_e.tail = vishand_e.head + Vector((0, 0, v1.length / 32)) + vispole_e.tail = vispole_e.head + Vector((0, 0, v1.length / 32)) + + # Determine the pole offset value + plane = (farm_e.tail - uarm_e.head).normalized() + vec1 = uarm_e.x_axis.normalized() + vec2 = (pole_e.head - uarm_e.head).normalized() + pole_offset = angle_on_plane(plane, vec1, vec2) + + # Object mode, get pose bones + bpy.ops.object.mode_set(mode='OBJECT') + pb = self.obj.pose.bones + + # uarm_p = pb[uarm] # UNUSED + farm_p = pb[farm] + hand_p = pb[hand] + pole_p = pb[pole] + vishand_p = pb[vishand] + vispole_p = pb[vispole] + + # Set the elbow to only bend on the primary axis + if 'X' in self.primary_rotation_axis: + farm_p.lock_ik_y = True + farm_p.lock_ik_z = True + elif 'Y' in self.primary_rotation_axis: + farm_p.lock_ik_x = True + farm_p.lock_ik_z = True + else: + farm_p.lock_ik_x = True + farm_p.lock_ik_y = True + + # Pole target only translates + pole_p.lock_location = False, False, False + pole_p.lock_rotation = True, True, True + pole_p.lock_rotation_w = True + pole_p.lock_scale = True, True, True + + # Set up custom properties + if self.switch == True: + prop = rna_idprop_ui_prop_get(hand_p, "ikfk_switch", create=True) + hand_p["ikfk_switch"] = 0.0 + prop["soft_min"] = prop["min"] = 0.0 + prop["soft_max"] = prop["max"] = 1.0 + + # Bend direction hint + if self.bend_hint: + con = farm_p.constraints.new('LIMIT_ROTATION') + con.name = "bend_hint" + con.owner_space = 'LOCAL' + if self.primary_rotation_axis == 'X': + con.use_limit_x = True + con.min_x = pi / 10 + con.max_x = pi / 10 + elif self.primary_rotation_axis == '-X': + con.use_limit_x = True + con.min_x = -pi / 10 + con.max_x = -pi / 10 + elif self.primary_rotation_axis == 'Y': + con.use_limit_y = True + con.min_y = pi / 10 + con.max_y = pi / 10 + elif self.primary_rotation_axis == '-Y': + con.use_limit_y = True + con.min_y = -pi / 10 + con.max_y = -pi / 10 + elif self.primary_rotation_axis == 'Z': + con.use_limit_z = True + con.min_z = pi / 10 + con.max_z = pi / 10 + elif self.primary_rotation_axis == '-Z': + con.use_limit_z = True + con.min_z = -pi / 10 + con.max_z = -pi / 10 + + # IK Constraint + con = farm_p.constraints.new('IK') + con.name = "ik" + con.target = self.obj + con.subtarget = hand + con.pole_target = self.obj + con.pole_subtarget = pole + con.pole_angle = pole_offset + con.chain_count = 2 + + # Constrain org bones to controls + con = pb[self.org_bones[0]].constraints.new('COPY_TRANSFORMS') + con.name = "ik" + con.target = self.obj + con.subtarget = uarm + if self.switch == True: + # IK/FK switch driver + 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 = hand_p.path_from_id() + '["ikfk_switch"]' + + con = pb[self.org_bones[1]].constraints.new('COPY_TRANSFORMS') + con.name = "ik" + con.target = self.obj + con.subtarget = farm + if self.switch == True: + # IK/FK switch driver + 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 = hand_p.path_from_id() + '["ikfk_switch"]' + + con = pb[self.org_bones[2]].constraints.new('COPY_TRANSFORMS') + con.name = "ik" + con.target = self.obj + con.subtarget = hand + if self.switch == True: + # IK/FK switch driver + 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 = hand_p.path_from_id() + '["ikfk_switch"]' + + # VIS hand constraints + con = vishand_p.constraints.new('COPY_LOCATION') + con.name = "copy_loc" + con.target = self.obj + con.subtarget = self.org_bones[2] + + con = vishand_p.constraints.new('STRETCH_TO') + con.name = "stretch_to" + con.target = self.obj + con.subtarget = hand + con.volume = 'NO_VOLUME' + con.rest_length = vishand_p.length + + # VIS pole constraints + con = vispole_p.constraints.new('COPY_LOCATION') + con.name = "copy_loc" + con.target = self.obj + con.subtarget = self.org_bones[1] + + con = vispole_p.constraints.new('STRETCH_TO') + con.name = "stretch_to" + con.target = self.obj + con.subtarget = pole + con.volume = 'NO_VOLUME' + con.rest_length = vispole_p.length + + # Set layers if specified + if self.layers: + hand_p.bone.layers = self.layers + pole_p.bone.layers = self.layers + vishand_p.bone.layers = self.layers + vispole_p.bone.layers = self.layers + + # Create widgets + create_line_widget(self.obj, vispole) + create_line_widget(self.obj, vishand) + create_sphere_widget(self.obj, pole) + + ob = create_widget(self.obj, hand) + if ob != 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 [uarm, farm, hand, pole] + |