blender/release/scripts/modules/rigify/leg_biped.py

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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 #####
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# <pep8 compliant>
import bpy
from math import pi
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
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from rna_prop_ui import rna_idprop_ui_prop_get
METARIG_NAMES = "hips", "thigh", "shin", "foot", "toe", "heel"
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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.connected = 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.connected = 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.connected = 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.connected = 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.connected = 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.connected = False
bone.parent = arm.edit_bones['foot']
bpy.ops.object.mode_set(mode='OBJECT')
pbone = obj.pose.bones['thigh']
pbone['type'] = 'leg_biped'
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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]
'''
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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)
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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
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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].connected == children[1].connected:
raise RigifyError("expected one bone to be connected")
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toe, heel = children
if heel.connected:
toe, heel = heel, toe
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bone_definition.append(toe.name)
bone_definition.append(heel.name)
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if len(bone_definition) != len(METARIG_NAMES):
raise RigifyError("internal problem, expected %d bones" % len(METARIG_NAMES))
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return bone_definition
def ik(obj, bone_definition, base_names, options):
arm = obj.data
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# 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"])
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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.local_location = False
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# 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
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# 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
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del base_foot_name
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# 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.connected = False
ik_chain.toe_e.parent = ik.foot_roll_01_e
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# re-parent ik_chain.foot to the
ik_chain.foot_e.connected = False
ik_chain.foot_e.parent = ik.foot_roll_02_e
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# 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.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()
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# Set IK dof
ik_chain.shin_p.ik_dof_x = True
ik_chain.shin_p.ik_dof_y = False
ik_chain.shin_p.ik_dof_z = False
# 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_length = 2
con.iterations = 500
con.pole_angle = -pi/2
con.use_tail = True
con.use_stretch = True
con.use_target = True
con.use_rotation = False
con.weight = 1.0
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con.target = obj
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con.subtarget = ik_chain.foot
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con.pole_target = obj
con.pole_subtarget = ik.knee_target
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# foot roll
cons = [ \
(ik.foot_roll_01_p.constraints.new('COPY_ROTATION'), ik.foot_roll_01_p.constraints.new('LIMIT_ROTATION')), \
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(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'
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con = con_l
con.use_limit_x, con.use_limit_y, con.use_limit_z = True, False, False
con.owner_space = 'LOCAL'
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if con_l is cons[-1][-1]:
con.minimum_x = 0.0
con.maximum_x = 180.0 # XXX -deg
else:
con.minimum_x = -180.0 # XXX -deg
con.maximum_x = 0.0
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# 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.layer)
for attr in ik_chain.attr_names:
getattr(ik_chain, attr + "_b").layer = layer
for attr in ik.attr_names:
getattr(ik, attr + "_b").layer = layer
bpy.ops.object.mode_set(mode='EDIT')
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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
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# 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"])
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# new bones
ex = bone_class_instance(obj, ["thigh_socket", "thigh_hinge"])
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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
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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.connected = fk_chain.foot_e.connected
fk_chain.foot_e.connected = False
fk_chain.foot_e.parent = foot_e
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fk_chain.thigh_e.connected = 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
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con = ex.thigh_hinge_p.constraints.new('COPY_ROTATION')
con.target = obj
con.subtarget = mt.hips
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# add driver
hinge_driver_path = fk_chain.thigh_p.path_to_id() + '["hinge"]'
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fcurve = con.driver_add("influence", 0)
driver = fcurve.driver
Durian Request: Drivers Recode Highlights: * Support for Multi-Target Variables This was the main reason for this recode. Previously, variables could only be used to give some RNA property used as an input source to the driver a name. However, this meant that effects such as Rotational Difference couldn't be used in conjunction with other effects and/or settings to achieve the powerful results. Now, a variable can take several input targets, perform some interesting operations on them, and spit out a representative value based on that. * New Variable Types With the introduction of multi-target variables, there are now 3 types of variable that can be used: single property (i.e. the only type previously), Rotational Difference (angle between two bones), and Distance (distance between two objects or bones). * New Driver Types In addition to the existing 'Average', 'Sum', and 'Expression' types, there is now the additional options of 'Minimum' and 'Maximum'. These take the smallest/largest value that one of the variables evaluates to. * Fix for Driver F-Curve colouring bug Newly added drivers did not get automatically coloured in the Graph Editor properly. Was caused by inappropriate notifiers being used. Notes: * This commit breaks existing 2.5 files with drivers (in other words, they are lost forever). * Rigify has been corrected to work with the new system. The PyAPI for accessing targets used for the variables could still be made nicer (using subclassing to directly access?), but that is left for later. * Version patching for 2.49 files still needs to be put back in place.
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var = driver.variables.new()
driver.type = 'AVERAGE'
Durian Request: Drivers Recode Highlights: * Support for Multi-Target Variables This was the main reason for this recode. Previously, variables could only be used to give some RNA property used as an input source to the driver a name. However, this meant that effects such as Rotational Difference couldn't be used in conjunction with other effects and/or settings to achieve the powerful results. Now, a variable can take several input targets, perform some interesting operations on them, and spit out a representative value based on that. * New Variable Types With the introduction of multi-target variables, there are now 3 types of variable that can be used: single property (i.e. the only type previously), Rotational Difference (angle between two bones), and Distance (distance between two objects or bones). * New Driver Types In addition to the existing 'Average', 'Sum', and 'Expression' types, there is now the additional options of 'Minimum' and 'Maximum'. These take the smallest/largest value that one of the variables evaluates to. * Fix for Driver F-Curve colouring bug Newly added drivers did not get automatically coloured in the Graph Editor properly. Was caused by inappropriate notifiers being used. Notes: * This commit breaks existing 2.5 files with drivers (in other words, they are lost forever). * Rigify has been corrected to work with the new system. The PyAPI for accessing targets used for the variables could still be made nicer (using subclassing to directly access?), but that is left for later. * Version patching for 2.49 files still needs to be put back in place.
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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
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# 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.layer)
for attr in fk_chain.attr_names:
getattr(fk_chain, attr + "_b").layer = layer
for attr in ex.attr_names:
getattr(ex, attr + "_b").layer = layer
arm.bones[foot].layer = layer
bpy.ops.object.mode_set(mode='EDIT')
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# dont blend the hips or heel
return (None, fk_chain.thigh, fk_chain.shin, fk_chain.foot, fk_chain.toe, None, None)
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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 = 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)
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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)