diff options
Diffstat (limited to 'rigify/rigs/limbs/leg.py')
| -rw-r--r-- | rigify/rigs/limbs/leg.py | 190 |
1 files changed, 131 insertions, 59 deletions
diff --git a/rigify/rigs/limbs/leg.py b/rigify/rigs/limbs/leg.py index dbdd20cb..b409d009 100644 --- a/rigify/rigs/limbs/leg.py +++ b/rigify/rigs/limbs/leg.py @@ -22,13 +22,14 @@ import bpy import math from itertools import count -from mathutils import Vector +from mathutils import Vector, Matrix from ...utils.rig import is_rig_base_bone from ...utils.bones import align_chain_x_axis, align_bone_x_axis, align_bone_y_axis, align_bone_z_axis from ...utils.bones import align_bone_to_axis, flip_bone, put_bone, align_bone_orientation from ...utils.naming import make_derived_name -from ...utils.misc import map_list +from ...utils.misc import map_list, matrix_from_axis_roll, matrix_from_axis_pair +from ...utils.widgets import adjust_widget_transform_mesh from ..widgets import create_foot_widget, create_ballsocket_widget @@ -62,10 +63,18 @@ class Rig(BaseLimbRig): super().initialize() + self.pivot_type = self.params.foot_pivot_type + self.heel_euler_order = 'ZXY' if self.main_axis == 'x' else 'XZY' + + assert self.pivot_type in {'ANKLE', 'TOE', 'ANKLE_TOE'} + def prepare_bones(self): orgs = self.bones.org.main + foot = self.get_bone(orgs[2]) - foot_x = self.vector_without_z(self.get_bone(orgs[2]).y_axis).cross((0, 0, -1)) + ik_y_axis = (0, 1, 0) + foot_y_axis = -self.vector_without_z(foot.y_axis) + foot_x = foot_y_axis.cross((0, 0, 1)) if self.params.rotation_axis == 'automatic': align_chain_x_axis(self.obj, orgs[0:2]) @@ -84,6 +93,12 @@ class Rig(BaseLimbRig): align_bone_z_axis(self.obj, orgs[2], foot_x) align_bone_z_axis(self.obj, orgs[3], -foot_x) + else: + ik_y_axis = foot_y_axis + + # Orientation of the IK main and roll control bones + self.ik_matrix = matrix_from_axis_roll(ik_y_axis, 0) + self.roll_matrix = matrix_from_axis_pair(ik_y_axis, foot_x, self.main_axis) #################################################### # EXTRA BONES @@ -92,6 +107,8 @@ class Rig(BaseLimbRig): # heel: # Heel location marker bone # ctrl: + # ik_spin: + # Toe spin control. # heel: # Foot roll control # mch: @@ -104,31 +121,71 @@ class Rig(BaseLimbRig): # IK controls def get_extra_ik_controls(self): - return [self.bones.ctrl.heel] + controls = super().get_extra_ik_controls() + [self.bones.ctrl.heel] + if self.pivot_type == 'ANKLE_TOE': + controls += [self.bones.ctrl.ik_spin] + return controls def make_ik_control_bone(self, orgs): name = self.copy_bone(orgs[2], make_derived_name(orgs[2], 'ctrl', '_ik')) - - if self.params.rotation_axis == 'automatic' or self.params.auto_align_extremity: - align_bone_to_axis(self.obj, name, 'y', flip=True) - + if self.pivot_type == 'TOE': + put_bone(self.obj, name, self.get_bone(name).tail, matrix=self.ik_matrix) else: - flip_bone(self.obj, name) - - bone = self.get_bone(name) - bone.tail[2] = bone.head[2] - bone.roll = 0 - + put_bone(self.obj, name, None, matrix=self.ik_matrix) return name + def build_ik_pivot(self, ik_name, **args): + heel_bone = self.get_bone(self.bones.org.heel) + args = { + 'position': (heel_bone.head + heel_bone.tail)/2, + **args + } + return super().build_ik_pivot(ik_name, **args) + def register_switch_parents(self, pbuilder): super().register_switch_parents(pbuilder) - pbuilder.register_parent(self, self.bones.org.main[2], exclude_self=True) + pbuilder.register_parent(self, self.bones.org.main[2], exclude_self=True, tags={'limb_end'}) def make_ik_ctrl_widget(self, ctrl): - create_foot_widget(self.obj, ctrl) + obj = create_foot_widget(self.obj, ctrl) + if self.pivot_type != 'TOE': + ctrl = self.get_bone(ctrl) + org = self.get_bone(self.bones.org.main[2]) + offset = org.tail - (ctrl.custom_shape_transform or ctrl).head + adjust_widget_transform_mesh(obj, Matrix.Translation(offset)) + + #################################################### + # IK pivot controls + + def get_ik_pivot_output(self): + if self.pivot_type == 'ANKLE_TOE': + return self.bones.ctrl.ik_spin + else: + return self.get_ik_control_output() + + @stage.generate_bones + def make_ik_pivot_controls(self): + if self.pivot_type == 'ANKLE_TOE': + self.bones.ctrl.ik_spin = self.make_ik_spin_bone(self.bones.org.main) + + def make_ik_spin_bone(self, orgs): + name = self.copy_bone(orgs[2], make_derived_name(orgs[2], 'ctrl', '_spin_ik')) + put_bone(self.obj, name, self.get_bone(orgs[3]).head, matrix=self.ik_matrix, scale=0.5) + return name + + @stage.parent_bones + def parent_ik_pivot_controls(self): + if self.pivot_type == 'ANKLE_TOE': + self.set_bone_parent(self.bones.ctrl.ik_spin, self.get_ik_control_output()) + + @stage.generate_widgets + def make_ik_spin_control_widget(self): + if self.pivot_type == 'ANKLE_TOE': + obj = create_ballsocket_widget(self.obj, self.bones.ctrl.ik_spin, size=0.75) + rotfix = Matrix.Rotation(math.pi/2, 4, self.main_axis.upper()) + adjust_widget_transform_mesh(obj, rotfix, local=True) #################################################### # Heel control @@ -136,25 +193,19 @@ class Rig(BaseLimbRig): @stage.generate_bones def make_heel_control_bone(self): org = self.bones.org.main[2] - name = self.copy_bone(org, make_derived_name(org, 'ctrl', '_heel_ik'), scale=1/2) + name = self.copy_bone(org, make_derived_name(org, 'ctrl', '_heel_ik')) + put_bone(self.obj, name, None, matrix=self.roll_matrix, scale=0.5) self.bones.ctrl.heel = name - self.align_roll_bone(org, name, -self.vector_without_z(self.get_bone(org).vector)) - @stage.parent_bones def parent_heel_control_bone(self): - self.set_bone_parent(self.bones.ctrl.heel, self.bones.ctrl.ik) + self.set_bone_parent(self.bones.ctrl.heel, self.get_ik_pivot_output(), inherit_scale='AVERAGE') @stage.configure_bones def configure_heel_control_bone(self): bone = self.get_bone(self.bones.ctrl.heel) bone.lock_location = True, True, True - - if self.main_axis == 'x': - bone.lock_rotation = False, False, True - else: - bone.lock_rotation = True, False, False - + bone.rotation_mode = self.heel_euler_order bone.lock_scale = True, True, True @stage.generate_widgets @@ -173,34 +224,27 @@ class Rig(BaseLimbRig): def make_roll_mch_bones(self, foot, toe, heel): foot_bone = self.get_bone(foot) heel_bone = self.get_bone(heel) - axis = -self.vector_without_z(foot_bone.vector) - - roll1 = self.copy_bone(foot, make_derived_name(heel, 'mch', '_roll1')) - flip_bone(self.obj, roll1) - self.align_roll_bone(foot, roll1, -foot_bone.vector) + heel_middle = (heel_bone.head + heel_bone.tail) / 2 - roll2 = self.copy_bone(toe, make_derived_name(heel, 'mch', '_roll2'), scale=1/4) - - put_bone(self.obj, roll2, (heel_bone.head + heel_bone.tail) / 2) - self.align_roll_bone(foot, roll2, -axis) + result = self.copy_bone(foot, make_derived_name(foot, 'mch', '_roll'), scale=0.25) + roll1 = self.copy_bone(toe, make_derived_name(heel, 'mch', '_roll1'), scale=0.3) + roll2 = self.copy_bone(toe, make_derived_name(heel, 'mch', '_roll2'), scale=0.3) rock1 = self.copy_bone(heel, make_derived_name(heel, 'mch', '_rock1')) - - align_bone_to_axis(self.obj, rock1, 'y', roll=0, length=heel_bone.length/2, flip=True) - align_bone_y_axis(self.obj, rock1, axis) - rock2 = self.copy_bone(heel, make_derived_name(heel, 'mch', '_rock2')) - align_bone_to_axis(self.obj, rock2, 'y', roll=0, length=heel_bone.length/2) - align_bone_y_axis(self.obj, rock2, axis) + put_bone(self.obj, roll1, None, matrix=self.roll_matrix) + put_bone(self.obj, roll2, heel_middle, matrix=self.roll_matrix) + put_bone(self.obj, rock1, heel_bone.tail, matrix=self.roll_matrix, scale=0.5) + put_bone(self.obj, rock2, heel_bone.head, matrix=self.roll_matrix, scale=0.5) - return [ rock2, rock1, roll2, roll1 ] + return [ rock2, rock1, roll2, roll1, result ] @stage.parent_bones def parent_roll_mch_chain(self): chain = self.bones.mch.heel - self.set_bone_parent(chain[0], self.bones.ctrl.ik) + self.set_bone_parent(chain[0], self.get_ik_pivot_output()) self.parent_bone_chain(chain) @stage.rig_bones @@ -208,28 +252,37 @@ class Rig(BaseLimbRig): self.rig_roll_mch_bones(self.bones.mch.heel, self.bones.ctrl.heel, self.bones.org.heel) def rig_roll_mch_bones(self, chain, heel, org_heel): - rock2, rock1, roll2, roll1 = chain + rock2, rock1, roll2, roll1, result = chain + + # This order is required for correct working of the constraints + for bone in chain: + self.get_bone(bone).rotation_mode = self.heel_euler_order - self.make_constraint(roll1, 'COPY_ROTATION', heel, space='LOCAL') - self.make_constraint(roll2, 'COPY_ROTATION', heel, space='LOCAL') + self.make_constraint(roll1, 'COPY_ROTATION', heel, space='POSE') if self.main_axis == 'x': - self.make_constraint(roll1, 'LIMIT_ROTATION', use_limit_x=True, max_x=DEG_360, space='LOCAL') - self.make_constraint(roll2, 'LIMIT_ROTATION', use_limit_xyz=ALL_TRUE, min_x=-DEG_360, space='LOCAL') + self.make_constraint(roll2, 'COPY_ROTATION', heel, space='LOCAL', use_xyz=(True, False, False)) + self.make_constraint(roll2, 'LIMIT_ROTATION', min_x=-DEG_360, space='LOCAL') else: - self.make_constraint(roll1, 'LIMIT_ROTATION', use_limit_z=True, max_z=DEG_360, space='LOCAL') - self.make_constraint(roll2, 'LIMIT_ROTATION', use_limit_xyz=ALL_TRUE, min_z=-DEG_360, space='LOCAL') + self.make_constraint(roll2, 'COPY_ROTATION', heel, space='LOCAL', use_xyz=(False, False, True)) + self.make_constraint(roll2, 'LIMIT_ROTATION', min_z=-DEG_360, space='LOCAL') direction = self.get_main_axis(self.get_bone(heel)).dot(self.get_bone(org_heel).vector) if direction < 0: rock2, rock1 = rock1, rock2 - self.make_constraint(rock1, 'COPY_ROTATION', heel, space='LOCAL') - self.make_constraint(rock2, 'COPY_ROTATION', heel, space='LOCAL') + self.make_constraint( + rock1, 'COPY_ROTATION', heel, space='LOCAL', + use_xyz=(False, True, False), + ) + self.make_constraint( + rock2, 'COPY_ROTATION', heel, space='LOCAL', + use_xyz=(False, True, False), + ) - self.make_constraint(rock1, 'LIMIT_ROTATION', use_limit_xyz=ALL_TRUE, max_y=DEG_360, space='LOCAL') - self.make_constraint(rock2, 'LIMIT_ROTATION', use_limit_xyz=ALL_TRUE, min_y=-DEG_360, space='LOCAL') + self.make_constraint(rock1, 'LIMIT_ROTATION', max_y=DEG_360, space='LOCAL') + self.make_constraint(rock2, 'LIMIT_ROTATION', min_y=-DEG_360, space='LOCAL') #################################################### @@ -237,7 +290,7 @@ class Rig(BaseLimbRig): def parent_fk_parent_bone(self, i, parent_mch, prev_ctrl, org, prev_org): if i == 3: - align_bone_orientation(self.obj, parent_mch, self.bones.mch.heel[-2]) + align_bone_orientation(self.obj, parent_mch, self.bones.mch.heel[2]) self.set_bone_parent(parent_mch, prev_org, use_connect=True) @@ -246,7 +299,7 @@ class Rig(BaseLimbRig): def rig_fk_parent_bone(self, i, parent_mch, org): if i == 3: - con = self.make_constraint(parent_mch, 'COPY_TRANSFORMS', self.bones.mch.heel[-2]) + con = self.make_constraint(parent_mch, 'COPY_TRANSFORMS', self.bones.mch.heel[2]) self.make_driver(con, 'influence', variables=[(self.prop_bone, 'IK_FK')], polynomial=[1.0, -1.0]) @@ -257,8 +310,6 @@ class Rig(BaseLimbRig): #################################################### # IK system MCH - ik_input_head_tail = 1.0 - def get_ik_input_bone(self): return self.bones.mch.heel[-1] @@ -266,14 +317,35 @@ class Rig(BaseLimbRig): def parent_ik_mch_chain(self): super().parent_ik_mch_chain() - self.set_bone_parent(self.bones.mch.ik_target, self.bones.ctrl.heel) + self.set_bone_parent(self.bones.mch.ik_target, self.bones.mch.heel[-1]) #################################################### # Settings @classmethod + def add_parameters(self, params): + super().add_parameters(params) + + items = [ + ('ANKLE', 'Ankle', + 'The foots pivots at the ankle'), + ('TOE', 'Toe', + 'The foot pivots around the base of the toe'), + ('ANKLE_TOE', 'Ankle and Toe', + 'The foots pivots at the ankle, with extra toe pivot'), + ] + + params.foot_pivot_type = bpy.props.EnumProperty( + items = items, + name = "Foot Pivot", + default = 'ANKLE_TOE' + ) + + @classmethod def parameters_ui(self, layout, params): + layout.prop(params, 'foot_pivot_type') + super().parameters_ui(layout, params, 'Foot') |