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# ##### 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#
# ##### END GPL LICENSE BLOCK #####
# <pep8 compliant>
import bpy
from rigify import RigifyError, get_layer_dict
from rigify_utils import bone_class_instance, copy_bone_simple, blend_bone_list, get_side_name, get_base_name, add_pole_target_bone
from rna_prop_ui import rna_idprop_ui_prop_get
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_generic'
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):
arm = obj.data
# 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="%s", 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", ik_chain.foot + "_ik")
# keep the foot_ik as the parent
ik_chain.toe_e.connected = 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", "foot_roll", "foot_roll_01", "foot_roll_02", "knee_target", "foot_target"])
ik.knee_target = add_pole_target_bone(obj, mt_chain.shin, "knee_target") #XXX - pick a better name
ik.update()
ik.knee_target_e.parent = mt.hips_e
# 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, base_names[mt_chain.foot] + "_roll")
ik.foot_roll = ik.foot_roll_e.name
ik.foot_roll_e.parent = ik_chain.foot_e
ik.foot_roll_e.translate(- (mt_chain.toe_e.vector.normalize() * mt_chain.foot_e.length))
ik.foot_roll_e.align_orientation(mt_chain.foot_e)
ik.foot_roll_e.tail = ik.foot_roll_e.head - ik.foot_roll_e.vector # flip
ik.foot_roll_e.align_roll(mt_chain.foot_e.matrix.rotationPart() * 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, 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()
# simple constraining of orig bones
con = mt_chain.thigh_p.constraints.new('COPY_ROTATION')
con.target = obj
con.subtarget = ik_chain.thigh
con = mt_chain.shin_p.constraints.new('COPY_ROTATION')
con.target = obj
con.subtarget = ik_chain.shin
con = mt_chain.foot_p.constraints.new('COPY_ROTATION')
con.target = obj
con.subtarget = ik.foot_roll_02
con = mt_chain.toe_p.constraints.new('COPY_ROTATION')
con.target = obj
con.subtarget = ik_chain.toe
# others...
con = ik.foot_roll_01_p.constraints.new('COPY_ROTATION')
con.target = obj
con.subtarget = ik.foot_roll
# 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 = obj
con.pole_subtarget = ik.knee_target
bpy.ops.object.mode_set(mode='EDIT')
return None, ik_chain.thigh, ik_chain.shin, ik_chain.foot, ik_chain.toe
def main(obj, bone_definition, base_names, options):
bones_ik = ik(obj, bone_definition, base_names, options)
return bones_ik
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