1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
|
# ##### 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 rna_prop_ui import rna_idprop_ui_prop_get
from math import pi
from rigify import RigifyError
from rigify_utils import bone_class_instance, copy_bone_simple, get_side_name, get_base_name
from Mathutils import Vector
METARIG_NAMES = "hips", "thigh", "shin", "foot", "toe"
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('body')
bone.head[:] = -0.0728, -0.2427, 0.0000
bone.tail[:] = -0.0728, -0.2427, 0.2427
bone.roll = 0.0000
bone.connected = False
bone = arm.edit_bones.new('thigh')
bone.head[:] = 0.0000, 0.0000, -0.0000
bone.tail[:] = 0.0813, -0.2109, -0.3374
bone.roll = -0.4656
bone.connected = False
bone.parent = arm.edit_bones['body']
bone = arm.edit_bones.new('shin')
bone.head[:] = 0.0813, -0.2109, -0.3374
bone.tail[:] = 0.0714, -0.0043, -0.5830
bone.roll = -0.2024
bone.connected = True
bone.parent = arm.edit_bones['thigh']
bone = arm.edit_bones.new('foot')
bone.head[:] = 0.0714, -0.0043, -0.5830
bone.tail[:] = 0.0929, -0.0484, -0.7652
bone.roll = -0.3766
bone.connected = True
bone.parent = arm.edit_bones['shin']
bone = arm.edit_bones.new('toe')
bone.head[:] = 0.0929, -0.0484, -0.7652
bone.tail[:] = 0.1146, -0.1244, -0.7652
bone.roll = -0.0000
bone.connected = True
bone.parent = arm.edit_bones['foot']
bpy.ops.object.mode_set(mode='OBJECT')
pbone = obj.pose.bones['thigh']
pbone['type'] = 'leg_quadruped'
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 < 3: # 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
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):
eb = obj.data.edit_bones
pb = obj.pose.bones
arm = obj.data
bpy.ops.object.mode_set(mode='EDIT')
# setup the existing bones, use names from METARIG_NAMES
mt = bone_class_instance(obj, ["hips"])
mt_chain = bone_class_instance(obj, ["thigh", "shin", "foot", "toe"])
mt.attr_initialize(METARIG_NAMES, bone_definition)
mt_chain.attr_initialize(METARIG_NAMES, bone_definition)
ik_chain = mt_chain.copy(to_fmt="MCH-%s.ik", base_names=base_names)
ik_chain.thigh_e.connected = False
ik_chain.thigh_e.parent = mt.hips_e
ik_chain.foot_e.parent = None
ik_chain.rename("foot", get_base_name(base_names[bone_definition[3]]) + "_ik" + get_side_name(base_names[bone_definition[3]]))
ik_chain.rename("toe", get_base_name(base_names[bone_definition[4]]) + "_ik" + get_side_name(base_names[bone_definition[4]]))
# keep the foot_ik as the parent
ik_chain.toe_e.connected = False
# Foot uses pose space, not local space, for translation
ik_chain.foot_e.local_location = False
# must be after disconnecting the toe
ik_chain.foot_e.align_orientation(mt_chain.toe_e)
# children of ik_foot
ik = bone_class_instance(obj, ["foot_roll", "foot_roll_01", "foot_roll_02", "foot_target"])
# knee rotator
knee_rotator = copy_bone_simple(arm, mt_chain.toe, "knee_rotator" + get_side_name(base_names[mt_chain.foot]), parent=True).name
eb[knee_rotator].connected = False
eb[knee_rotator].parent = eb[mt.hips]
eb[knee_rotator].head = eb[ik_chain.thigh].head
eb[knee_rotator].tail = eb[knee_rotator].head + eb[mt_chain.toe].vector
eb[knee_rotator].length = eb[ik_chain.thigh].length / 2
eb[knee_rotator].roll += pi/2
# parent ik leg to the knee rotator
eb[ik_chain.thigh].parent = eb[knee_rotator]
# foot roll is an interesting one!
# plot a vector from the toe bones head, bactwards to the length of the foot
# then align it with the foot but reverse direction.
ik.foot_roll_e = copy_bone_simple(arm, mt_chain.toe, get_base_name(base_names[mt_chain.foot]) + "_roll" + get_side_name(base_names[mt_chain.foot]))
ik.foot_roll = ik.foot_roll_e.name
ik.foot_roll_e.connected = False
ik.foot_roll_e.parent = ik_chain.foot_e
ik.foot_roll_e.head -= mt_chain.toe_e.vector.normalize() * mt_chain.foot_e.length
ik.foot_roll_e.tail = ik.foot_roll_e.head - (mt_chain.foot_e.vector.normalize() * mt_chain.toe_e.length)
ik.foot_roll_e.align_roll(mt_chain.foot_e.matrix.rotation_part() * Vector(0.0, 0.0, -1.0))
# MCH-foot
ik.foot_roll_01_e = copy_bone_simple(arm, mt_chain.foot, "MCH-" + base_names[mt_chain.foot])
ik.foot_roll_01 = ik.foot_roll_01_e.name
ik.foot_roll_01_e.parent = ik_chain.foot_e
ik.foot_roll_01_e.head, ik.foot_roll_01_e.tail = mt_chain.foot_e.tail, mt_chain.foot_e.head
ik.foot_roll_01_e.roll = ik.foot_roll_e.roll
# ik_target, child of MCH-foot
ik.foot_target_e = copy_bone_simple(arm, mt_chain.foot, "MCH-" + base_names[mt_chain.foot] + "_ik_target")
ik.foot_target = ik.foot_target_e.name
ik.foot_target_e.parent = ik.foot_roll_01_e
ik.foot_target_e.align_orientation(ik_chain.foot_e)
ik.foot_target_e.length = ik_chain.foot_e.length / 2.0
ik.foot_target_e.connected = True
# MCH-foot.02 child of MCH-foot
ik.foot_roll_02_e = copy_bone_simple(arm, mt_chain.foot, "MCH-%s_02" % base_names[mt_chain.foot])
ik.foot_roll_02 = ik.foot_roll_02_e.name
ik.foot_roll_02_e.parent = ik.foot_roll_01_e
bpy.ops.object.mode_set(mode='OBJECT')
mt.update()
mt_chain.update()
ik.update()
ik_chain.update()
# Set rotation modes and axis locks
#pb[knee_rotator].rotation_mode = 'YXZ'
#pb[knee_rotator].lock_rotation = False, True, False
pb[knee_rotator].lock_location = True, True, True
pb[ik.foot_roll].rotation_mode = 'XYZ'
pb[ik.foot_roll].lock_rotation = False, True, True
pb[ik_chain.toe].rotation_mode = 'XYZ'
pb[ik_chain.toe].lock_rotation = False, True, True
# IK switch property
prop = rna_idprop_ui_prop_get(pb[ik_chain.foot], "ik", create=True)
pb[ik_chain.foot]["ik"] = 1.0
prop["soft_min"] = 0.0
prop["soft_max"] = 1.0
prop["min"] = 0.0
prop["max"] = 1.0
ik_driver_path = pb[ik_chain.foot].path_to_id() + '["ik"]'
# simple constraining of orig bones
con = mt_chain.thigh_p.constraints.new('COPY_TRANSFORMS')
con.target = obj
con.subtarget = ik_chain.thigh
fcurve = con.driver_add("influence", 0)
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 = ik_driver_path
con = mt_chain.shin_p.constraints.new('COPY_TRANSFORMS')
con.target = obj
con.subtarget = ik_chain.shin
fcurve = con.driver_add("influence", 0)
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 = ik_driver_path
con = mt_chain.foot_p.constraints.new('COPY_TRANSFORMS')
con.target = obj
con.subtarget = ik.foot_roll_02
fcurve = con.driver_add("influence", 0)
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 = ik_driver_path
con = mt_chain.toe_p.constraints.new('COPY_TRANSFORMS')
con.target = obj
con.subtarget = ik_chain.toe
fcurve = con.driver_add("influence", 0)
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 = ik_driver_path
# others...
con = ik.foot_roll_01_p.constraints.new('COPY_ROTATION')
con.target = obj
con.subtarget = ik.foot_roll
con.target_space = 'LOCAL'
con.owner_space = 'LOCAL'
# IK
con = ik_chain.shin_p.constraints.new('IK')
con.chain_length = 2
con.iterations = 500
con.pole_angle = -90.0 # XXX - in deg!
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.foot_target
con.pole_target = None
ik.update()
ik_chain.update()
# Set layers of the bones.
if "ik_layer" in options:
layer = [n==options["ik_layer"] for n in range(0,32)]
else:
layer = list(mt_chain.thigh_b.layer)
for attr in ik_chain.attr_names:
obj.data.bones[getattr(ik_chain, attr)].layer = layer
for attr in ik.attr_names:
obj.data.bones[getattr(ik, attr)].layer = layer
obj.data.bones[knee_rotator].layer = layer
return None, ik_chain.thigh, ik_chain.shin, ik_chain.foot, ik_chain.toe
def fk(obj, bone_definition, base_names, options):
eb = obj.data.edit_bones
pb = obj.pose.bones
arm = obj.data
bpy.ops.object.mode_set(mode='EDIT')
# setup the existing bones, use names from METARIG_NAMES
mt = bone_class_instance(obj, ["hips"])
mt_chain = bone_class_instance(obj, ["thigh", "shin", "foot", "toe"])
mt.attr_initialize(METARIG_NAMES, bone_definition)
mt_chain.attr_initialize(METARIG_NAMES, bone_definition)
fk_chain = mt_chain.copy(to_fmt="%s", base_names=base_names)
# Create the socket
socket = copy_bone_simple(arm, mt_chain.thigh, "MCH-leg_socket").name
eb[socket].parent = eb[mt.hips]
eb[socket].length = eb[mt_chain.thigh].length / 4
# Create the hinge
hinge = copy_bone_simple(arm, mt.hips, "MCH-leg_hinge").name
eb[hinge].length = eb[mt.hips].length / 2
# Make leg child of hinge
eb[fk_chain.thigh].connected = False
eb[fk_chain.thigh].parent = eb[hinge]
bpy.ops.object.mode_set(mode='OBJECT')
# Set rotation modes and axis locks
pb[fk_chain.shin].rotation_mode = 'XYZ'
pb[fk_chain.shin].lock_rotation = False, True, True
# Constrain original bones to control bones
con = mt_chain.thigh_p.constraints.new('COPY_TRANSFORMS')
con.target = obj
con.subtarget = fk_chain.thigh
con = mt_chain.shin_p.constraints.new('COPY_TRANSFORMS')
con.target = obj
con.subtarget = fk_chain.shin
con = mt_chain.foot_p.constraints.new('COPY_TRANSFORMS')
con.target = obj
con.subtarget = fk_chain.foot
con = mt_chain.toe_p.constraints.new('COPY_TRANSFORMS')
con.target = obj
con.subtarget = fk_chain.toe
# Socket constraint
con = pb[fk_chain.thigh].constraints.new('COPY_LOCATION')
con.target = obj
con.subtarget = socket
# Hinge constraint
con = pb[hinge].constraints.new('COPY_TRANSFORMS')
con.target = obj
con.subtarget = mt.hips
prop = rna_idprop_ui_prop_get(pb[fk_chain.thigh], "hinge", create=True)
pb[fk_chain.thigh]["hinge"] = 0.0
prop["soft_min"] = 0.0
prop["soft_max"] = 1.0
prop["min"] = 0.0
prop["max"] = 1.0
hinge_driver_path = pb[fk_chain.thigh].path_to_id() + '["hinge"]'
fcurve = con.driver_add("influence", 0)
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
return None, fk_chain.thigh, fk_chain.shin, fk_chain.foot, fk_chain.toe
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.connected = False
uleg2.connected = 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.connected = False
lleg2.connected = 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.connected = 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 = 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 = 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)
return bones_ik
|