diff options
Diffstat (limited to 'rigify/rigs/biped/leg/ik.py')
| -rw-r--r-- | rigify/rigs/biped/leg/ik.py | 520 |
1 files changed, 520 insertions, 0 deletions
diff --git a/rigify/rigs/biped/leg/ik.py b/rigify/rigs/biped/leg/ik.py new file mode 100644 index 00000000..a04b57dc --- /dev/null +++ b/rigify/rigs/biped/leg/ik.py @@ -0,0 +1,520 @@ +#====================== 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, flip_bone, put_bone +from rigify.utils import connected_children_names +from rigify.utils import strip_org, make_mechanism_name, insert_before_lr +from rigify.utils import get_layers +from rigify.utils import create_widget, create_line_widget, create_sphere_widget, create_circle_widget +from rna_prop_ui import rna_idprop_ui_prop_get + + +def align_x_axis(obj, bone, vec): + """ Aligns the x-axis of a bone to the given vector. This only works if it + can be an exact match. + Must be in edit mode. + + """ + vec.normalize() + bone_e = obj.data.edit_bones[bone] + dot = max(-1.0, min(1.0, bone_e.x_axis.dot(vec))) + angle = acos(dot) + + bone_e.roll += angle + + dot1 = bone_e.x_axis.dot(vec) + + bone_e.roll -= angle * 2 + + dot2 = bone_e.x_axis.dot(vec) + + if dot1 > dot2: + bone_e.roll += angle * 2 + + +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 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 + for b in self.obj.data.bones[leg_bones[1]].children: + if b.use_connect == True: + if len(b.children) == 0: + heel = b.name + else: + foot = b.name + + if foot == None or heel == None: + 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 == True: + toe = b.name + + # Get toe + if toe == None: + raise MetarigError("RIGIFY ERROR: Bone '%s': incorrect bone configuration for rig type." % (strip_org(bone))) + + self.org_bones = leg_bones + [foot, toe, heel] + + # Get rig parameters + if params.separate_ik_layers: + self.layers = list(params.ik_layers) + else: + self.layers = None + + 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 + thigh = copy_bone(self.obj, self.org_bones[0], make_mechanism_name(strip_org(insert_before_lr(self.org_bones[0], "_ik")))) + shin = copy_bone(self.obj, self.org_bones[1], make_mechanism_name(strip_org(insert_before_lr(self.org_bones[1], "_ik")))) + + foot = copy_bone(self.obj, self.org_bones[2], strip_org(insert_before_lr(self.org_bones[2], "_ik"))) + foot_ik_target = copy_bone(self.obj, self.org_bones[2], make_mechanism_name(strip_org(insert_before_lr(self.org_bones[2], "_ik_target")))) + pole = copy_bone(self.obj, self.org_bones[0], strip_org(insert_before_lr(self.org_bones[0], "_pole"))) + + 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"))) + roll1 = copy_bone(self.obj, self.org_bones[4], make_mechanism_name(strip_org(self.org_bones[2] + ".roll"))) + roll2 = copy_bone(self.obj, self.org_bones[4], make_mechanism_name(strip_org(self.org_bones[2] + ".roll"))) + + visfoot = 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 + + org_foot_e = eb[self.org_bones[2]] + thigh_e = eb[thigh] + shin_e = eb[shin] + foot_e = eb[foot] + foot_ik_target_e = eb[foot_ik_target] + pole_e = eb[pole] + 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] + visfoot_e = eb[visfoot] + vispole_e = eb[vispole] + + # Parenting + shin_e.parent = thigh_e + + foot_e.use_connect = False + foot_e.parent = None + foot_ik_target_e.use_connect = False + foot_ik_target_e.parent = roll2_e + + pole_e.use_connect = False + pole_e.parent = foot_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 + + visfoot_e.use_connect = False + visfoot_e.parent = None + + vispole_e.use_connect = False + vispole_e.parent = None + + # Misc + foot_e.use_local_location = False + + visfoot_e.hide_select = True + vispole_e.hide_select = True + + # Positioning + vec = Vector(toe_e.vector) + vec = vec.normalize() + foot_e.tail = foot_e.head + (vec * foot_e.length) + foot_e.roll = toe_e.roll + + v1 = shin_e.tail - thigh_e.head + + if 'X' in self.primary_rotation_axis or 'Y' in self.primary_rotation_axis: + v2 = v1.cross(shin_e.x_axis) + if (v2 * shin_e.z_axis) > 0.0: + v2 *= -1.0 + else: + v2 = v1.cross(shin_e.z_axis) + if (v2 * shin_e.x_axis) < 0.0: + v2 *= -1.0 + v2.normalize() + v2 *= v1.length + + if '-' in self.primary_rotation_axis: + v2 *= -1 + + pole_e.head = shin_e.head + v2 + pole_e.tail = pole_e.head + (Vector((0, 1, 0)) * (v1.length / 8)) + pole_e.roll = 0.0 + + 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_x_axis(self.obj, roll1, roll_axis) + align_x_axis(self.obj, roll2, roll_axis) + foot_roll_e.roll = roll2_e.roll + + visfoot_e.tail = visfoot_e.head + Vector((0, 0, v1.length / 32)) + vispole_e.tail = vispole_e.head + Vector((0, 0, v1.length / 32)) + + # Weird alignment issues. Fix. + toe_parent_e.head = Vector(org_foot_e.head) + toe_parent_e.tail = Vector(org_foot_e.tail) + toe_parent_e.roll = org_foot_e.roll + + foot_e.head = Vector(org_foot_e.head) + + foot_ik_target_e.head = Vector(org_foot_e.head) + foot_ik_target_e.tail = Vector(org_foot_e.tail) + + # Determine the pole offset value + plane = (shin_e.tail - thigh_e.head).normalize() + vec1 = thigh_e.x_axis.normalize() + vec2 = (pole_e.head - thigh_e.head).normalize() + 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 + + thigh_p = pb[thigh] + shin_p = pb[shin] + foot_p = pb[foot] + pole_p = pb[pole] + foot_roll_p = pb[foot_roll] + roll1_p = pb[roll1] + roll2_p = pb[roll2] + toe_p = pb[toe] + toe_parent_p = pb[toe_parent] + toe_parent_socket1_p = pb[toe_parent_socket1] + visfoot_p = pb[visfoot] + vispole_p = pb[vispole] + + # Set the knee to only bend on the primary axis. + if 'X' in self.primary_rotation_axis: + shin_p.lock_ik_y = True + shin_p.lock_ik_z = True + elif 'Y' in self.primary_rotation_axis: + shin_p.lock_ik_x = True + shin_p.lock_ik_z = True + else: + shin_p.lock_ik_x = True + shin_p.lock_ik_y = True + + # Foot roll control only rotates on x-axis. + foot_roll_p.rotation_mode = 'XYZ' + foot_roll_p.lock_rotation = False, True, True + foot_roll_p.lock_location = True, True, True + foot_roll_p.lock_scale = True, True, 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(foot_p, "ikfk_switch", create=True) + foot_p["ikfk_switch"] = 0.0 + prop["soft_min"] = prop["min"] = 0.0 + prop["soft_max"] = prop["max"] = 1.0 + + # IK Constraint + con = shin_p.constraints.new('IK') + con.name = "ik" + con.target = self.obj + con.subtarget = foot_ik_target + con.pole_target = self.obj + con.pole_subtarget = pole + con.pole_angle = pole_offset + con.chain_count = 2 + + # 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 constraints + con = roll1_p.constraints.new('COPY_ROTATION') + con.name = "roll" + con.target = self.obj + con.subtarget = foot_roll + con.target_space = 'LOCAL' + con.owner_space = 'LOCAL' + + con = roll1_p.constraints.new('LIMIT_ROTATION') + con.name = "limit_roll" + con.use_limit_x = True + con.min_x = -180 + con.max_x = 0 + con.owner_space = 'LOCAL' + + con = roll2_p.constraints.new('COPY_ROTATION') + con.name = "roll" + con.target = self.obj + con.subtarget = foot_roll + con.target_space = 'LOCAL' + con.owner_space = 'LOCAL' + + con = roll2_p.constraints.new('LIMIT_ROTATION') + con.name = "limit_roll" + con.use_limit_x = True + con.min_x = 0 + con.max_x = 180 + con.owner_space = 'LOCAL' + + # Constrain org bones to controls + con = pb[self.org_bones[0]].constraints.new('COPY_TRANSFORMS') + con.name = "ik" + con.target = self.obj + con.subtarget = thigh + 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 = foot_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 = shin + 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 = foot_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 = foot_ik_target + 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 = foot_p.path_from_id() + '["ikfk_switch"]' + + con = pb[self.org_bones[3]].constraints.new('COPY_TRANSFORMS') + con.name = "copy_transforms" + con.target = self.obj + con.subtarget = toe + + # VIS foot constraints + con = visfoot_p.constraints.new('COPY_LOCATION') + con.name = "copy_loc" + con.target = self.obj + con.subtarget = self.org_bones[2] + + con = visfoot_p.constraints.new('STRETCH_TO') + con.name = "stretch_to" + con.target = self.obj + con.subtarget = foot + con.volume = 'NO_VOLUME' + con.rest_length = visfoot_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: + foot_p.bone.layers = self.layers + pole_p.bone.layers = self.layers + foot_roll_p.bone.layers = self.layers + visfoot_p.bone.layers = self.layers + vispole_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_line_widget(self.obj, vispole) + create_line_widget(self.obj, visfoot) + create_sphere_widget(self.obj, pole) + create_circle_widget(self.obj, toe, radius=0.7, head_tail=0.5) + + ob = create_widget(self.obj, foot) + 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 + + ob = create_widget(self.obj, foot_roll) + if ob != 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 + + return [foot, pole, foot_roll] + |