blender/release/scripts/modules/rigify/leg_biped.py
Campbell Barton fbadf21b00 pep8 changes to rigify (minor warnings still there)
also found quite a few cases where variables were used that hadnt been defined.
2010-01-31 14:33:27 +00:00

503 lines
17 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
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# of the License, or (at your option) any later version.
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# GNU General Public License for more details.
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# along with this program; if not, write to the Free Software Foundation,
# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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# ##### 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.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'
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].connected == children[1].connected:
raise RigifyError("expected one bone to be connected")
toe, heel = children
if heel.connected:
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.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.connected = False
ik_chain.toe_e.parent = ik.foot_roll_01_e
# re-parent ik_chain.foot to the
ik_chain.foot_e.connected = 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.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.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
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.minimum_x = 0.0
con.maximum_x = 180.0 # XXX -deg
else:
con.minimum_x = -180.0 # XXX -deg
con.maximum_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.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')
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.connected = fk_chain.foot_e.connected
fk_chain.foot_e.connected = False
fk_chain.foot_e.parent = foot_e
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
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_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
# 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')
# 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.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)
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)