def logMatrix4AsSRT(m, msg="matrix4"):
t = XSIMath.CreateTransform()
t.SetMatrix4(m)
vScl = t.Scaling
vRot = t.Rotation.XYZAngles
vRot.Set(XSIMath.RadiansToDegrees(vRot.X),
XSIMath.RadiansToDegrees(vRot.Y),
XSIMath.RadiansToDegrees(vRot.Z))
vPos = t.Translation
logVector(vScl, msg + " S")
logVector(vRot, msg + " R")
logVector(vPos, msg + " T")
def switchToIk(self):
# Get the distance between Root and effector and compare it to bones total length to define if the chain is bend or not
vRootEff = XSIMath.CreateVector3()
vRootEff.Sub(self.jnt0.kinematics.Global.Transform.Translation,
self.ik.kinematics.Global.Transform.Translation)
# We get an approximation of the length otherwise it's sometimes tricky to compare distance
r = 100000
dRootEffLength = round((vRootEff.Length() * r)) / r
dBonesLength = round(((self.length0 + self.length1) * r)) / r
# xsi.MatchTransform(self.ik, self.eff, c.siRT, None)
# tra.matchGlobalTransform(self.eff, self.ik, True, True, False)
tra.matchGlobalTransform(self.ik, self.fk2, True, True, True)
self.blend.Value = 1
# tra.matchGlobalTransform(self.fk2, self.ik, False, True, False)
# Compute Roll
if dRootEffLength < dBonesLength:
# Get Vectors to built the plane
vFKChain0 = XSIMath.CreateVector3()
vIKChain0 = XSIMath.CreateVector3()
vRootEff = XSIMath.CreateVector3()
vFKChain0.Sub(self.fk0.kinematics.Global.Transform.Translation,
self.fk1.kinematics.Global.Transform.Translation)
vIKChain0.Sub(self.jnt0.kinematics.Global.Transform.Translation,
self.jnt1.kinematics.Global.Transform.Translation)
vRootEff.Sub(self.jnt0.kinematics.Global.Transform.Translation,
self.ik.kinematics.Global.Transform.Translation)
# vFKChain0.NormalizeInPlace()
# vIKChain0.NormalizeInPlace()
# vRootEff.NormalizeInPlace()
# Get Plane's Normal
vNormFKPlane = XSIMath.CreateVector3()
vNormIKPlane = XSIMath.CreateVector3()
vNormFKPlane.Cross(vFKChain0, vRootEff)
vNormIKPlane.Cross(vIKChain0, vRootEff)
# vNormFKPlane.NormalizeInPlace()
# vNormIKPlane.NormalizeInPlace()
# Get the Angle between the two planess
dAngle = XSIMath.RadiansToDegrees(vNormFKPlane.Angle(vNormIKPlane))
# Check if we have to remove or add the angle
vCrossPlane = XSIMath.CreateVector3()
vCrossPlane.Cross(vNormFKPlane, vNormIKPlane)
# vCrossPlane.NormalizeInPlace()
dDirectionDot = vCrossPlane.Dot(vRootEff)
# Set the new roll Value
a = self.roll.Value + (dDirectionDot / abs(dDirectionDot)) * dAngle
# Set the angle in a -180 / 180 range
if abs(a) > 180:
a = a % ((-a / abs(a)) * 360)
# [OLD WAY ]Set the new roll Value --
# Check if the bone is negated or not
## dNegate = self.jnt1.kinematics.Local.posx.Value + self.jnt1.kinematics.Local.nposx.Value
#dNegate = 1
# oldAngle = self.roll.Value
# if (dDirectionDot * dNegate) < 0:
# newAngle = oldAngle - dAngle
# else:
# newAngle = oldAngle + dAngle
# if newAngle > 180:
# newAngle -= 360
# elif newAngle < -180:
# newAngle += 360
# [END OLD WAY ] -------------------
self.roll.Value = a
# Match Scale Value
# We remove Soft distances
self.softik.Value = 0
if dRootEffLength > dBonesLength:
if self.scale.Value > self.maxstretch.Value:
self.maxstretch.Value = self.scale.Value
self.scale.Value = 1
if self.isleg:
z = XSIMath.CreateVector3(1, 0, 0)
y = XSIMath.CreateVector3(0, 1, 0)
if self.negate:
z.NegateInPlace()
y.NegateInPlace()
z.MulByRotationInPlace(
self.fk2.Kinematics.Global.Transform.Rotation)
y.MulByRotationInPlace(
self.fk2.Kinematics.Global.Transform.Rotation)
t = self.fk2.Kinematics.Global.Transform
t.SetRotation(tra.getRotationFromAxis(z, y, "zy"))
self.ik.Kinematics.Global.Transform = t
else:
tra.matchGlobalTransform(self.ik, self.fk2, False, True, True)