path: root/release/scripts/modules/rigify/leg_biped.py

# ##### 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 math import pi
from rigify import RigifyError
from rigify_utils import bone_class_instance, copy_bone_simple, blend_bone_list, get_side_name, get_base_name
from rna_prop_ui import rna_idprop_ui_prop_get

METARIG_NAMES = "hips", "thigh", "shin", "foot", "toe", "heel"


def metarig_template():
    # generated by rigify.write_meta_rig
    bpy.ops.object.mode_set(mode='EDIT')
    obj = bpy.context.active_object
    arm = obj.data
    bone = arm.edit_bones.new('hips')
    bone.head[:] = 0.0000, 0.0000, 0.0000
    bone.tail[:] = 0.0000, 0.0000, 0.2506
    bone.roll = 0.0000
    bone.use_connect = False
    bone = arm.edit_bones.new('thigh')
    bone.head[:] = 0.1253, 0.0000, -0.0000
    bone.tail[:] = 0.0752, -0.0251, -0.4260
    bone.roll = 0.1171
    bone.use_connect = False
    bone.parent = arm.edit_bones['hips']
    bone = arm.edit_bones.new('shin')
    bone.head[:] = 0.0752, -0.0251, -0.4260
    bone.tail[:] = 0.0752, 0.0000, -0.8771
    bone.roll = 0.0000
    bone.use_connect = True
    bone.parent = arm.edit_bones['thigh']
    bone = arm.edit_bones.new('foot')
    bone.head[:] = 0.0752, 0.0000, -0.8771
    bone.tail[:] = 0.1013, -0.1481, -0.9773
    bone.roll = -0.4662
    bone.use_connect = True
    bone.parent = arm.edit_bones['shin']
    bone = arm.edit_bones.new('toe')
    bone.head[:] = 0.1013, -0.1481, -0.9773
    bone.tail[:] = 0.1100, -0.2479, -0.9773
    bone.roll = 3.1416
    bone.use_connect = True
    bone.parent = arm.edit_bones['foot']
    bone = arm.edit_bones.new('heel')
    bone.head[:] = 0.0652, 0.0501, -1.0024
    bone.tail[:] = 0.0927, -0.1002, -1.0024
    bone.roll = 0.0000
    bone.use_connect = False
    bone.parent = arm.edit_bones['foot']

    bpy.ops.object.mode_set(mode='OBJECT')
    pbone = obj.pose.bones['thigh']
    pbone['type'] = 'leg_biped'


def metarig_definition(obj, orig_bone_name):
    '''
    The bone given is the first in a chain
    Expects a chain of at least 3 children.
    eg.
        thigh -> shin -> foot -> [toe, heel]
    '''

    bone_definition = []

    orig_bone = obj.data.bones[orig_bone_name]
    orig_bone_parent = orig_bone.parent

    if orig_bone_parent is None:
        raise RigifyError("expected the thigh bone to have a parent hip bone")

    bone_definition.append(orig_bone_parent.name)
    bone_definition.append(orig_bone.name)


    bone = orig_bone
    chain = 0
    while chain < 2: # first 2 bones only have 1 child
        children = bone.children

        if len(children) != 1:
            raise RigifyError("expected the thigh bone to have 3 children without a fork")
        bone = children[0]
        bone_definition.append(bone.name) # shin, foot
        chain += 1

    children = bone.children
    # Now there must be 2 children, only one connected
    if len(children) != 2:
        raise RigifyError("expected the foot bone:'%s' to have 2 children" % bone.name)

    if children[0].use_connect == children[1].use_connect:
        raise RigifyError("expected one bone to be connected")

    toe, heel = children
    if heel.use_connect:
        toe, heel = heel, toe


    bone_definition.append(toe.name)
    bone_definition.append(heel.name)

    if len(bone_definition) != len(METARIG_NAMES):
        raise RigifyError("internal problem, expected %d bones" % len(METARIG_NAMES))

    return bone_definition


def ik(obj, bone_definition, base_names, options):
    arm = obj.data

    # setup the existing bones, use names from METARIG_NAMES
    mt_chain = bone_class_instance(obj, ["thigh", "shin", "foot", "toe"])
    mt = bone_class_instance(obj, ["hips", "heel"])

    mt.attr_initialize(METARIG_NAMES, bone_definition)
    mt_chain.attr_initialize(METARIG_NAMES, bone_definition)

    # children of ik_foot
    ik = bone_class_instance(obj, ["foot", "foot_roll", "foot_roll_01", "foot_roll_02", "knee_target"])

    # Make a new chain
    ik_chain = mt_chain.copy(to_fmt="MCH-%s", base_names=base_names)

    # simple rename
    ik_chain.rename("thigh", ik_chain.thigh + "_ik")
    ik_chain.rename("shin", ik_chain.shin + "_ik")

    # make sure leg is child of hips
    ik_chain.thigh_e.parent = mt.hips_e

    # ik foot: no parents
    base_foot_name = get_base_name(base_names[mt_chain.foot])
    ik.foot_e = copy_bone_simple(arm, mt.heel, base_foot_name + "_ik" + get_side_name(base_names[mt_chain.foot]))
    ik.foot = ik.foot_e.name
    ik.foot_e.translate(mt_chain.foot_e.head - ik.foot_e.head)
    ik.foot_e.use_local_location = False

    # foot roll: heel pointing backwards, half length
    ik.foot_roll_e = copy_bone_simple(arm, mt.heel, base_foot_name + "_roll" + get_side_name(base_names[mt_chain.foot]))
    ik.foot_roll = ik.foot_roll_e.name
    ik.foot_roll_e.tail = ik.foot_roll_e.head - ik.foot_roll_e.vector / 2.0
    ik.foot_roll_e.parent = ik.foot_e # heel is disconnected

    # heel pointing forwards to the toe base, parent of the following 2 bones
    ik.foot_roll_01_e = copy_bone_simple(arm, mt.heel, "MCH-%s_roll.01" % base_foot_name)
    ik.foot_roll_01 = ik.foot_roll_01_e.name
    ik.foot_roll_01_e.tail = mt_chain.foot_e.tail
    ik.foot_roll_01_e.parent = ik.foot_e # heel is disconnected

    # same as above but reverse direction
    ik.foot_roll_02_e = copy_bone_simple(arm, mt.heel, "MCH-%s_roll.02" % base_foot_name)
    ik.foot_roll_02 = ik.foot_roll_02_e.name
    ik.foot_roll_02_e.parent = ik.foot_roll_01_e # heel is disconnected
    ik.foot_roll_02_e.head = mt_chain.foot_e.tail
    ik.foot_roll_02_e.tail = mt.heel_e.head

    del base_foot_name

    # rename 'MCH-toe' --> to 'toe_ik' and make the child of ik.foot_roll_01
    # ------------------ FK or IK?
    ik_chain.rename("toe", get_base_name(base_names[mt_chain.toe]) + "_ik" + get_side_name(base_names[mt_chain.toe]))
    ik_chain.toe_e.use_connect = False
    ik_chain.toe_e.parent = ik.foot_roll_01_e

    # re-parent ik_chain.foot to the
    ik_chain.foot_e.use_connect = False
    ik_chain.foot_e.parent = ik.foot_roll_02_e


    # knee target is the heel moved up and forward on its local axis
    ik.knee_target_e = copy_bone_simple(arm, mt.heel, "knee_target" + get_side_name(mt.heel))
    ik.knee_target = ik.knee_target_e.name
    offset = ik.knee_target_e.tail - ik.knee_target_e.head
    offset.z = 0
    offset.length = mt_chain.shin_e.head.z - mt.heel_e.head.z
    offset.z += offset.length
    ik.knee_target_e.translate(offset)
    ik.knee_target_e.length *= 0.5
    ik.knee_target_e.parent = ik.foot_e
    ik.knee_target_e.use_local_location = False

    # roll the bone to point up... could also point in the same direction as ik.foot_roll
    # ik.foot_roll_02_e.matrix * Vector((0.0, 0.0, 1.0)) # ACK!, no rest matrix in editmode
    ik.foot_roll_01_e.align_roll((0.0, 0.0, -1.0))

    bpy.ops.object.mode_set(mode='OBJECT')

    ik.update()
    mt_chain.update()
    ik_chain.update()

    # Set IK dof
    ik_chain.shin_p.lock_ik_x = False
    ik_chain.shin_p.lock_ik_y = True
    ik_chain.shin_p.lock_ik_z = True

    # Set rotation modes and axis locks
    ik.foot_roll_p.rotation_mode = 'XYZ'
    ik.foot_roll_p.lock_rotation = False, True, True
    ik_chain.toe_p.rotation_mode = 'YXZ'
    ik_chain.toe_p.lock_rotation = False, True, True
    ik_chain.toe_p.lock_location = True, True, True
    ik.foot_roll_p.lock_location = True, True, True

    # IK
    con = ik_chain.shin_p.constraints.new('IK')
    con.chain_count = 2
    con.iterations = 500
    con.pole_angle = -pi / 2.0
    con.use_tail = True
    con.use_stretch = True
    con.use_target = True
    con.use_rotation = False
    con.weight = 1.0

    con.target = obj
    con.subtarget = ik_chain.foot

    con.pole_target = obj
    con.pole_subtarget = ik.knee_target

    # foot roll
    cons = [ \
        (ik.foot_roll_01_p.constraints.new('COPY_ROTATION'), ik.foot_roll_01_p.constraints.new('LIMIT_ROTATION')), \
        (ik.foot_roll_02_p.constraints.new('COPY_ROTATION'), ik.foot_roll_02_p.constraints.new('LIMIT_ROTATION'))]

    for con, con_l in cons:
        con.target = obj
        con.subtarget = ik.foot_roll
        con.use_x, con.use_y, con.use_z = True, False, False
        con.target_space = con.owner_space = 'LOCAL'

        con = con_l
        con.use_limit_x, con.use_limit_y, con.use_limit_z = True, False, False
        con.owner_space = 'LOCAL'

        if con_l is cons[-1][-1]:
            con.min_x = 0.0
            con.max_x = 180.0 # XXX -deg
        else:
            con.min_x = -180.0 # XXX -deg
            con.max_x = 0.0


    # last step setup layers
    if "ik_layer" in options:
        layer = [n == options["ik_layer"] for n in range(0, 32)]
    else:
        layer = list(mt_chain.thigh_b.layers)
    for attr in ik_chain.attr_names:
        getattr(ik_chain, attr + "_b").layers = layer
    for attr in ik.attr_names:
        getattr(ik, attr + "_b").layers = layer

    bpy.ops.object.mode_set(mode='EDIT')

    return (None, ik_chain.thigh, ik_chain.shin, ik_chain.foot, ik_chain.toe, None, ik.foot)


def fk(obj, bone_definition, base_names, options):
    from mathutils import Vector
    arm = obj.data

    # these account for all bones in METARIG_NAMES
    mt_chain = bone_class_instance(obj, ["thigh", "shin", "foot", "toe"])
    mt = bone_class_instance(obj, ["hips", "heel"])

    # new bones
    ex = bone_class_instance(obj, ["thigh_socket", "thigh_hinge"])

    for bone_class in (mt, mt_chain):
        for attr in bone_class.attr_names:
            i = METARIG_NAMES.index(attr)
            ebone = arm.edit_bones[bone_definition[i]]
            setattr(bone_class, attr, ebone.name)
        bone_class.update()

    ex.thigh_socket_e = copy_bone_simple(arm, mt_chain.thigh, "MCH-%s_socket" % base_names[mt_chain.thigh], parent=True)
    ex.thigh_socket = ex.thigh_socket_e.name
    ex.thigh_socket_e.tail = ex.thigh_socket_e.head + Vector((0.0, 0.0, ex.thigh_socket_e.length / 4.0))

    ex.thigh_hinge_e = copy_bone_simple(arm, mt.hips, "MCH-%s_hinge" % base_names[mt_chain.thigh], parent=False)
    ex.thigh_hinge = ex.thigh_hinge_e.name

    fk_chain = mt_chain.copy(base_names=base_names) # fk has no prefix!
    fk_chain.foot_e.name = "MCH-" + fk_chain.foot
    fk_chain.foot = fk_chain.foot_e.name

    # Set up fk foot control
    foot_e = copy_bone_simple(arm, mt.heel, base_names[mt_chain.foot])
    foot = foot_e.name
    foot_e.translate(mt_chain.foot_e.head - foot_e.head)
    foot_e.parent = fk_chain.shin_e
    foot_e.use_connect = fk_chain.foot_e.use_connect
    fk_chain.foot_e.use_connect = False
    fk_chain.foot_e.parent = foot_e

    fk_chain.thigh_e.use_connect = False
    fk_chain.thigh_e.parent = ex.thigh_hinge_e

    bpy.ops.object.mode_set(mode='OBJECT')

    ex.update()
    mt_chain.update()
    fk_chain.update()
    foot_p = obj.pose.bones[foot]

    # Set rotation modes and axis locks
    fk_chain.shin_p.rotation_mode = 'XYZ'
    fk_chain.shin_p.lock_rotation = False, True, True
    foot_p.rotation_mode = 'YXZ'
    fk_chain.toe_p.rotation_mode = 'YXZ'
    fk_chain.toe_p.lock_rotation = False, True, True
    fk_chain.thigh_p.lock_location = True, True, True

    con = fk_chain.thigh_p.constraints.new('COPY_LOCATION')
    con.target = obj
    con.subtarget = ex.thigh_socket

    # hinge
    prop = rna_idprop_ui_prop_get(fk_chain.thigh_p, "hinge", create=True)
    fk_chain.thigh_p["hinge"] = 0.0
    prop["soft_min"] = 0.0
    prop["soft_max"] = 1.0

    con = ex.thigh_hinge_p.constraints.new('COPY_ROTATION')
    con.target = obj
    con.subtarget = mt.hips

    # add driver
    hinge_driver_path = fk_chain.thigh_p.path_from_id() + '["hinge"]'

    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 = obj
    var.targets[0].data_path = hinge_driver_path

    mod = fcurve.modifiers[0]
    mod.poly_order = 1
    mod.coefficients[0] = 1.0
    mod.coefficients[1] = -1.0


    # last step setup layers
    if "fk_layer" in options:
        layer = [n == options["fk_layer"] for n in range(0, 32)]
    else:
        layer = list(mt_chain.thigh_b.layers)
    for attr in fk_chain.attr_names:
        getattr(fk_chain, attr + "_b").layers = layer
    for attr in ex.attr_names:
        getattr(ex, attr + "_b").layers = layer
    arm.bones[foot].layers = layer


    bpy.ops.object.mode_set(mode='EDIT')

    # dont blend the hips or heel
    return (None, fk_chain.thigh, fk_chain.shin, fk_chain.foot, fk_chain.toe, None, None)


def deform(obj, definitions, base_names, options):
    bpy.ops.object.mode_set(mode='EDIT')

    # Create upper leg bones: two bones, each half of the upper leg.
    uleg1 = copy_bone_simple(obj.data, definitions[1], "DEF-%s.01" % base_names[definitions[1]], parent=True)
    uleg2 = copy_bone_simple(obj.data, definitions[1], "DEF-%s.02" % base_names[definitions[1]], parent=True)
    uleg1.use_connect = False
    uleg2.use_connect = False
    uleg2.parent = uleg1
    center = uleg1.center
    uleg1.tail = center
    uleg2.head = center

    # Create lower leg bones: two bones, each half of the lower leg.
    lleg1 = copy_bone_simple(obj.data, definitions[2], "DEF-%s.01" % base_names[definitions[2]], parent=True)
    lleg2 = copy_bone_simple(obj.data, definitions[2], "DEF-%s.02" % base_names[definitions[2]], parent=True)
    lleg1.use_connect = False
    lleg2.use_connect = False
    lleg2.parent = lleg1
    center = lleg1.center
    lleg1.tail = center
    lleg2.head = center

    # Create a bone for the second lower leg deform bone to twist with
    twist = copy_bone_simple(obj.data, lleg2.name, "MCH-leg_twist")
    twist.length /= 4
    twist.use_connect = False
    twist.parent = obj.data.edit_bones[definitions[3]]

    # Create foot bone
    foot = copy_bone_simple(obj.data, definitions[3], "DEF-%s" % base_names[definitions[3]], parent=True)

    # Create toe bone
    toe = copy_bone_simple(obj.data, definitions[4], "DEF-%s" % base_names[definitions[4]], parent=True)

    # Store names before leaving edit mode
    uleg1_name = uleg1.name
    uleg2_name = uleg2.name
    lleg1_name = lleg1.name
    lleg2_name = lleg2.name
    twist_name = twist.name
    foot_name = foot.name
    toe_name = toe.name

    # Leave edit mode
    bpy.ops.object.mode_set(mode='OBJECT')

    # Get the pose bones
    uleg1 = obj.pose.bones[uleg1_name]
    uleg2 = obj.pose.bones[uleg2_name]
    lleg1 = obj.pose.bones[lleg1_name]
    lleg2 = obj.pose.bones[lleg2_name]
    foot = obj.pose.bones[foot_name]
    toe = obj.pose.bones[toe_name]

    # Upper leg constraints
    con = uleg1.constraints.new('DAMPED_TRACK')
    con.name = "trackto"
    con.target = obj
    con.subtarget = definitions[2]

    con = uleg1.constraints.new('COPY_SCALE')
    con.name = "scale"
    con.target = obj
    con.subtarget = definitions[1]

    con = uleg2.constraints.new('COPY_ROTATION')
    con.name = "copy_rot"
    con.target = obj
    con.subtarget = definitions[1]

    # Lower leg constraints
    con = lleg1.constraints.new('COPY_ROTATION')
    con.name = "copy_rot"
    con.target = obj
    con.subtarget = definitions[2]

    con = lleg1.constraints.new('COPY_SCALE')
    con.name = "copy_rot"
    con.target = obj
    con.subtarget = definitions[2]

    con = lleg2.constraints.new('COPY_ROTATION')
    con.name = "copy_rot"
    con.target = obj
    con.subtarget = twist_name

    con = lleg2.constraints.new('DAMPED_TRACK')
    con.name = "trackto"
    con.target = obj
    con.subtarget = definitions[3]

    # Foot constraint
    con = foot.constraints.new('COPY_ROTATION')
    con.name = "copy_rot"
    con.target = obj
    con.subtarget = definitions[3]

    # Toe constraint
    con = toe.constraints.new('COPY_ROTATION')
    con.name = "copy_rot"
    con.target = obj
    con.subtarget = definitions[4]

    bpy.ops.object.mode_set(mode='EDIT')
    return (uleg1_name, uleg2_name, lleg1_name, lleg2_name, foot_name, toe_name, None)


def main(obj, bone_definition, base_names, options):
    bones_fk = fk(obj, bone_definition, base_names, options)
    bones_ik = ik(obj, bone_definition, base_names, options)
    deform(obj, bone_definition, base_names, options)

    bpy.ops.object.mode_set(mode='OBJECT')
    blend_bone_list(obj, bone_definition + [None], bones_fk, bones_ik, target_bone=bones_ik[6], target_prop="ik", blend_default=1.0)