blender/release/scripts/modules/rigify/leg_quadruped.py
Campbell Barton bad41fcff5 - new docstrings for bpy.type.Struct methods & some corrections.
- struct.path_to_id() --> path_from_id().
2010-04-06 07:49:10 +00:00

498 lines
16 KiB
Python

# ##### 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_from_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_from_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