def addObjects(self):
"""Add all the objects needed to create the component."""
self.normal = self.guide.blades["blade"].z * -1
self.binormal = self.guide.blades["blade"].x
self.length0 = vector.getDistance(self.guide.apos[0],
self.guide.apos[1])
t = transform.getTransformLookingAt(self.guide.apos[0],
self.guide.apos[1],
self.normal,
axis="xy",
negate=self.negate)
self.npo = primitive.addTransform(self.root, self.getName("npo"), t)
self.ctl = self.addCtl(self.npo,
"ctl",
t,
self.color_fk,
"cube",
w=self.length0,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length0 * self.n_factor, 0, 0),
tp=self.parentCtlTag)
self.mtx = primitive.addTransform(self.npo, self.getName("mtx"), t)
t1 = transform.setMatrixPosition(t, self.guide.apos[1])
t2 = transform.getInterpolateTransformMatrix(t, t1, blend=0.98)
self.loc = primitive.addTransform(self.mtx, self.getName("loc"), t2)
self.end = primitive.addTransform(self.ctl, self.getName("end"), t1)
self.jnt_pos.append([self.mtx, "root"])
self.jnt_pos.append([self.loc, 'end'])
attribute.setKeyableAttributes(self.ctl)
attribute.setInvertMirror(self.ctl, ["tx", "ty", "tz"])
def addObjects(self):
"""Add all the objects needed to create the component."""
self.normal = self.guide.blades["blade"].z * -1
# Ik Controlers ------------------------------------
t = transform.getTransformLookingAt(self.guide.pos["tan1"],
self.guide.pos["neck"],
self.normal, "yx", self.negate)
t = transform.setMatrixPosition(t, self.guide.pos["neck"])
self.ik_cns = primitive.addTransform(self.root, self.getName("ik_cns"),
t)
self.ik_ctl = self.addCtl(self.ik_cns,
"ik_ctl",
t,
self.color_ik,
"compas",
w=self.size * .5,
tp=self.parentCtlTag)
attribute.setKeyableAttributes(self.ik_ctl, self.tr_params)
attribute.setRotOrder(self.ik_ctl, "ZXY")
attribute.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
# Tangents -----------------------------------------
if self.settings["tangentControls"]:
t = transform.setMatrixPosition(t, self.guide.pos["tan1"])
self.tan1_loc = primitive.addTransform(self.ik_ctl,
self.getName("tan1_loc"), t)
self.tan1_ctl = self.addCtl(self.tan1_loc,
"tan1_ctl",
t,
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.ik_ctl)
attribute.setKeyableAttributes(self.tan1_ctl, self.t_params)
attribute.setInvertMirror(self.tan1_ctl, ["tx"])
t = transform.getTransformLookingAt(self.guide.pos["root"],
self.guide.pos["tan0"],
self.normal, "yx", self.negate)
t = transform.setMatrixPosition(t, self.guide.pos["tan0"])
self.tan0_loc = primitive.addTransform(self.root,
self.getName("tan0_loc"), t)
self.tan0_ctl = self.addCtl(self.tan0_loc,
"tan0_ctl",
t,
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.ik_ctl)
attribute.setKeyableAttributes(self.tan0_ctl, self.t_params)
attribute.setInvertMirror(self.tan0_ctl, ["tx"])
# Curves -------------------------------------------
self.mst_crv = curve.addCnsCurve(
self.root, self.getName("mst_crv"),
[self.root, self.tan0_ctl, self.tan1_ctl, self.ik_ctl], 3)
self.slv_crv = curve.addCurve(self.root, self.getName("slv_crv"),
[datatypes.Vector()] * 10, False, 3)
self.mst_crv.setAttr("visibility", False)
else:
t = transform.setMatrixPosition(t, self.guide.pos["tan1"])
self.tan1_loc = primitive.addTransform(self.ik_ctl,
self.getName("tan1_loc"), t)
t = transform.getTransformLookingAt(self.guide.pos["root"],
self.guide.pos["tan0"],
self.normal, "yx", self.negate)
t = transform.setMatrixPosition(t, self.guide.pos["tan0"])
self.tan0_loc = primitive.addTransform(self.root,
self.getName("tan0_loc"), t)
# Curves -------------------------------------------
self.mst_crv = curve.addCnsCurve(
self.root, self.getName("mst_crv"),
[self.root, self.tan0_loc, self.tan1_loc, self.ik_ctl], 3)
self.slv_crv = curve.addCurve(self.root, self.getName("slv_crv"),
[datatypes.Vector()] * 10, False, 3)
self.mst_crv.setAttr("visibility", False)
self.slv_crv.setAttr("visibility", False)
# Division -----------------------------------------
# The user only define how many intermediate division he wants.
# First and last divisions are an obligation.
parentdiv = self.root
parentctl = self.root
self.div_cns = []
self.fk_ctl = []
self.fk_npo = []
self.scl_npo = []
self.twister = []
self.ref_twist = []
parent_twistRef = primitive.addTransform(
self.root, self.getName("reference"),
transform.getTransform(self.root))
t = transform.getTransformLookingAt(self.guide.pos["root"],
self.guide.pos["neck"],
self.normal, "yx", self.negate)
self.intMRef = primitive.addTransform(self.root,
self.getName("intMRef"), t)
self.previousCtlTag = self.parentCtlTag
for i in range(self.settings["division"]):
# References
div_cns = primitive.addTransform(parentdiv,
self.getName("%s_cns" % i), t)
pm.setAttr(div_cns + ".inheritsTransform", False)
self.div_cns.append(div_cns)
parentdiv = div_cns
scl_npo = primitive.addTransform(parentctl,
self.getName("%s_scl_npo" % i),
transform.getTransform(parentctl))
# Controlers (First and last one are fake)
if i in [self.settings["division"] - 1]: # 0,
fk_ctl = primitive.addTransform(
scl_npo, self.getName("%s_loc" % i),
transform.getTransform(parentctl))
fk_npo = fk_ctl
else:
fk_npo = primitive.addTransform(
scl_npo, self.getName("fk%s_npo" % i),
transform.getTransform(parentctl))
fk_ctl = self.addCtl(fk_npo,
"fk%s_ctl" % i,
transform.getTransform(parentctl),
self.color_fk,
"cube",
w=self.size * .2,
h=self.size * .05,
d=self.size * .2,
tp=self.previousCtlTag)
attribute.setKeyableAttributes(self.fk_ctl)
attribute.setRotOrder(fk_ctl, "ZXY")
self.previousCtlTag = fk_ctl
self.fk_ctl.append(fk_ctl)
self.scl_npo.append(scl_npo)
self.fk_npo.append(fk_npo)
parentctl = fk_ctl
self.jnt_pos.append([fk_ctl, i])
t = transform.getTransformLookingAt(
self.guide.pos["root"], self.guide.pos["neck"],
self.guide.blades["blade"].z * -1, "yx", self.negate)
twister = primitive.addTransform(parent_twistRef,
self.getName("%s_rot_ref" % i), t)
ref_twist = primitive.addTransform(parent_twistRef,
self.getName("%s_pos_ref" % i),
t)
ref_twist.setTranslation(datatypes.Vector(0.0, 0, 1.0),
space="preTransform")
self.twister.append(twister)
self.ref_twist.append(ref_twist)
for x in self.fk_ctl[:-1]:
attribute.setInvertMirror(x, ["tx", "rz", "ry"])
# Head ---------------------------------------------
t = transform.getTransformLookingAt(self.guide.pos["head"],
self.guide.pos["eff"], self.normal,
"yx", self.negate)
self.head_cns = primitive.addTransform(self.root,
self.getName("head_cns"), t)
dist = vector.getDistance(self.guide.pos["head"],
self.guide.pos["eff"])
self.head_ctl = self.addCtl(self.head_cns,
"head_ctl",
t,
self.color_fk,
"cube",
w=self.size * .5,
h=dist,
d=self.size * .5,
po=datatypes.Vector(0, dist * .5, 0),
tp=self.previousCtlTag)
attribute.setRotOrder(self.head_ctl, "ZXY")
attribute.setInvertMirror(self.head_ctl, ["tx", "rz", "ry"])
self.jnt_pos.append([self.head_ctl, "head"])
def addObjects(self):
self.WIP = self.options["mode"]
self.normal = self.getNormalFromPos(self.guide.apos)
self.binormal = self.getBiNormalFromPos(self.guide.apos)
self.length0 = vec.getDistance(self.guide.apos[0], self.guide.apos[1])
self.length1 = vec.getDistance(self.guide.apos[1], self.guide.apos[2])
self.length2 = vec.getDistance(self.guide.apos[2], self.guide.apos[3])
# FK Controlers -----------------------------------
t = tra.getTransformLookingAt(self.guide.apos[0], self.guide.apos[1],
self.normal, "xz", self.negate)
self.fk0_npo = pri.addTransform(self.root, self.getName("fk0_npo"), t)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length0 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk0_ctl)
t = tra.getTransformLookingAt(self.guide.apos[1], self.guide.apos[2],
self.normal, "xz", self.negate)
self.fk1_npo = pri.addTransform(self.fk0_ctl, self.getName("fk1_npo"),
t)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length1 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk1_ctl)
t = tra.getTransformLookingAt(self.guide.apos[2], self.guide.apos[3],
self.normal, "xz", self.negate)
self.fk2_npo = pri.addTransform(self.fk1_ctl, self.getName("fk2_npo"),
t)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length2 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk2_ctl)
self.fk_ctl = [self.fk0_ctl, self.fk1_ctl, self.fk2_ctl]
for x in self.fk_ctl:
att.setInvertMirror(x, ["tx", "ty", "tz"])
# IK Controlers -----------------------------------
self.ik_cns = pri.addTransformFromPos(self.root,
self.getName("ik_cns"),
self.guide.pos["wrist"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
tra.getTransformFromPos(
self.guide.pos["wrist"]),
self.color_ik,
"null",
w=self.size * .12)
att.setInvertMirror(self.ikcns_ctl, ["tx", "ty", "tz"])
if self.negate:
m = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"], self.normal,
"x-y", True)
else:
m = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"], self.normal,
"xy", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
m,
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12)
att.setKeyableAttributes(self.ik_ctl)
att.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
self.upv_cns = pri.addTransformFromPos(self.root,
self.getName("upv_cns"), v)
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
tra.getTransform(self.upv_cns),
self.color_ik,
"diamond",
w=self.size * .12)
att.setInvertMirror(self.upv_ctl, ["tx"])
# References --------------------------------------
# Calculate again the transfor for the IK ref. This way align with FK
trnIK_ref = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal, "xz", self.negate)
self.ik_ref = pri.addTransform(self.ik_ctl, self.getName("ik_ref"),
trnIK_ref)
self.fk_ref = pri.addTransform(self.fk_ctl[2], self.getName("fk_ref"),
trnIK_ref)
# Chain --------------------------------------------
# The outputs of the ikfk2bone solver
self.bone0 = pri.addLocator(self.root, self.getName("0_bone"),
tra.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
bShape = self.bone0.getShape()
bShape.setAttr("visibility", False)
self.bone1 = pri.addLocator(self.root, self.getName("1_bone"),
tra.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
bShape = self.bone1.getShape()
bShape.setAttr("visibility", False)
#Elbow control
tA = tra.getTransformLookingAt(self.guide.apos[0], self.guide.apos[1],
self.normal, "xz", self.negate)
tA = tra.setMatrixPosition(tA, self.guide.apos[1])
tB = tra.getTransformLookingAt(self.guide.apos[1], self.guide.apos[2],
self.normal, "xz", self.negate)
t = tra.getInterpolateTransformMatrix(tA, tB)
self.ctrn_loc = pri.addTransform(self.root, self.getName("ctrn_loc"),
t)
#match IK FK references
self.match_fk0_off = pri.addTransform(self.root,
self.getName("matchFk0_npo"),
tra.getTransform(self.fk_ctl[1]))
# self.match_fk0_off.attr("tx").set(1.0)
self.match_fk0 = pri.addTransform(self.match_fk0_off,
self.getName("fk0_mth"),
tra.getTransform(self.fk_ctl[0]))
self.match_fk1_off = pri.addTransform(self.root,
self.getName("matchFk1_npo"),
tra.getTransform(self.fk_ctl[2]))
# self.match_fk1_off.attr("tx").set(1.0)
self.match_fk1 = pri.addTransform(self.match_fk1_off,
self.getName("fk1_mth"),
tra.getTransform(self.fk_ctl[1]))
self.match_fk2 = pri.addTransform(self.ik_ctl, self.getName("fk2_mth"),
tra.getTransform(self.fk_ctl[2]))
self.match_ik = pri.addTransform(self.fk2_ctl, self.getName("ik_mth"),
tra.getTransform(self.ik_ctl))
self.match_ikUpv = pri.addTransform(self.fk0_ctl,
self.getName("upv_mth"),
tra.getTransform(self.upv_ctl))
# Eff locator
self.eff_loc = pri.addTransformFromPos(self.root,
self.getName("eff_loc"),
self.guide.apos[2])
# Mid Controler ------------------------------------
self.mid_ctl = self.addCtl(self.ctrn_loc,
"mid_ctl",
tra.getTransform(self.ctrn_loc),
self.color_ik,
"sphere",
w=self.size * .2)
att.setInvertMirror(self.mid_ctl, ["tx", "ty", "tz"])
#Roll join ref---------------------------------
self.tws0_loc = pri.addTransform(self.root, self.getName("tws0_loc"),
tra.getTransform(self.fk_ctl[0]))
self.tws1_npo = pri.addTransform(self.ctrn_loc,
self.getName("tws1_npo"),
tra.getTransform(self.ctrn_loc))
self.tws1_loc = pri.addTransform(self.tws1_npo,
self.getName("tws1_loc"),
tra.getTransform(self.ctrn_loc))
self.tws1A_npo = pri.addTransform(self.mid_ctl,
self.getName("tws1A_npo"), tA)
self.tws1A_loc = pri.addTransform(self.tws1A_npo,
self.getName("tws1A_loc"), tA)
self.tws1B_npo = pri.addTransform(self.mid_ctl,
self.getName("tws1B_npo"), tB)
self.tws1B_loc = pri.addTransform(self.tws1B_npo,
self.getName("tws1B_loc"), tB)
self.tws2_npo = pri.addTransform(self.root, self.getName("tws2_npo"),
tra.getTransform(self.fk_ctl[2]))
self.tws2_loc = pri.addTransform(self.tws2_npo,
self.getName("tws2_loc"),
tra.getTransform(self.fk_ctl[2]))
# Roll twist chain ---------------------------------
#Arm
self.armChainPos = []
ii = 1.0 / (self.settings["div0"] + 1)
i = 0.0
for p in range(self.settings["div0"] + 2):
self.armChainPos.append(
vec.linearlyInterpolate(self.guide.pos["root"],
self.guide.pos["elbow"],
blend=i))
i = i + ii
self.armTwistChain = pri.add2DChain(self.root,
self.getName("armTwist%s_jnt"),
self.armChainPos, self.normal,
False, self.WIP)
#Forearm
self.forearmChainPos = []
ii = 1.0 / (self.settings["div1"] + 1)
i = 0.0
for p in range(self.settings["div1"] + 2):
self.forearmChainPos.append(
vec.linearlyInterpolate(self.guide.pos["elbow"],
self.guide.pos["wrist"],
blend=i))
i = i + ii
self.forearmTwistChain = pri.add2DChain(
self.root, self.getName("forearmTwist%s_jnt"),
self.forearmChainPos, self.normal, False, self.WIP)
pm.parent(self.forearmTwistChain[0], self.mid_ctl)
#Hand Aux chain and nonroll
self.auxChainPos = []
ii = .5
i = 0.0
for p in range(3):
self.auxChainPos.append(
vec.linearlyInterpolate(self.guide.pos["wrist"],
self.guide.pos["eff"],
blend=i))
i = i + ii
t = self.root.getMatrix(worldSpace=True)
self.aux_npo = pri.addTransform(self.root, self.getName("aux_npo"), t)
self.auxTwistChain = pri.add2DChain(self.aux_npo,
self.getName("auxTwist%s_jnt"),
self.auxChainPos, self.normal,
False, self.WIP)
#Non Roll join ref ---------------------------------
self.armRollRef = pri.add2DChain(self.root,
self.getName("armRollRef%s_jnt"),
self.armChainPos[:2], self.normal,
False, self.WIP)
self.forearmRollRef = pri.add2DChain(
self.aux_npo, self.getName("forearmRollRef%s_jnt"),
self.auxChainPos[:2], self.normal, False, self.WIP)
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for the elbow. + 2 for elbow angle control
self.divisions = self.settings["div0"] + self.settings["div1"] + 4
self.div_cns = []
for i in range(self.divisions):
div_cns = pri.addTransform(self.root,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
self.jnt_pos.append([div_cns, i])
# End reference ------------------------------------
# To help the deformation on the wrist
self.end_ref = pri.addTransform(self.eff_loc, self.getName("end_ref"),
tra.getTransform(self.eff_loc))
if self.negate:
self.end_ref.attr("rz").set(180.0)
self.jnt_pos.append([self.end_ref, "end"])
# Tangent controls
t = tra.getInterpolateTransformMatrix(self.fk_ctl[0], self.tws1A_npo,
.3333)
self.armTangentA_loc = pri.addTransform(
self.root, self.getName("armTangentA_loc"),
self.fk_ctl[0].getMatrix(worldSpace=True))
self.armTangentA_npo = pri.addTransform(
self.armTangentA_loc, self.getName("armTangentA_npo"), t)
self.armTangentA_ctl = self.addCtl(self.armTangentA_npo,
"armTangentA_ctl",
t,
self.color_ik,
"circle",
w=self.size * .2,
ro=dt.Vector(0, 0, 1.570796))
t = tra.getInterpolateTransformMatrix(self.fk_ctl[0], self.tws1A_npo,
.6666)
self.armTangentB_npo = pri.addTransform(
self.tws1A_loc, self.getName("armTangentB_npo"), t)
self.armTangentB_ctl = self.addCtl(self.armTangentB_npo,
"armTangentB_ctl",
t,
self.color_ik,
"circle",
w=self.size * .2,
ro=dt.Vector(0, 0, 1.570796))
tC = self.tws1B_npo.getMatrix(worldSpace=True)
tC = tra.setMatrixPosition(tC, self.guide.apos[2])
t = tra.getInterpolateTransformMatrix(self.tws1B_npo, tC, .3333)
self.forearmTangentA_npo = pri.addTransform(
self.tws1B_loc, self.getName("forearmTangentA_npo"), t)
self.forearmTangentA_ctl = self.addCtl(self.forearmTangentA_npo,
"forearmTangentA_ctl",
t,
self.color_ik,
"circle",
w=self.size * .2,
ro=dt.Vector(0, 0, 1.570796))
t = tra.getInterpolateTransformMatrix(self.tws1B_npo, tC, .6666)
self.forearmTangentB_loc = pri.addTransform(
self.root, self.getName("forearmTangentB_loc"), tC)
self.forearmTangentB_npo = pri.addTransform(
self.forearmTangentB_loc, self.getName("forearmTangentB_npo"), t)
self.forearmTangentB_ctl = self.addCtl(self.forearmTangentB_npo,
"forearmTangentB_ctl",
t,
self.color_ik,
"circle",
w=self.size * .2,
ro=dt.Vector(0, 0, 1.570796))
t = self.mid_ctl.getMatrix(worldSpace=True)
self.elbowTangent_npo = pri.addTransform(
self.mid_ctl, self.getName("elbowTangent_npo"), t)
self.elbowTangent_ctl = self.addCtl(self.elbowTangent_npo,
"elbowTangent_ctl",
t,
self.color_fk,
"circle",
w=self.size * .25,
ro=dt.Vector(0, 0, 1.570796))
def addObjects(self):
"""Add all the objects needed to create the component."""
self.WIP = self.options["mode"]
self.normal = self.getNormalFromPos(self.guide.apos)
self.length0 = vector.getDistance(self.guide.apos[0],
self.guide.apos[1])
self.length1 = vector.getDistance(self.guide.apos[1],
self.guide.apos[2])
self.length2 = vector.getDistance(self.guide.apos[2],
self.guide.apos[3])
# 1 bone chain for upv ref
self.legChainUpvRef = primitive.add2DChain(
self.root, self.getName("legUpvRef%s_jnt"),
[self.guide.apos[0], self.guide.apos[2]], self.normal, False,
self.WIP)
self.legChainUpvRef[1].setAttr(
"jointOrientZ",
self.legChainUpvRef[1].getAttr("jointOrientZ") * -1)
# extra neutral pose
t = transform.getTransformFromPos(self.guide.apos[0])
self.root_npo = primitive.addTransform(self.root,
self.getName("root_npo"), t)
self.root_ctl = self.addCtl(self.root_npo,
"root_ctl",
t,
self.color_fk,
"circle",
w=self.length0 / 6,
tp=self.parentCtlTag)
# FK Controlers -----------------------------------
t = transform.getTransformLookingAt(self.guide.apos[0],
self.guide.apos[1], self.normal,
"xz", self.negate)
self.fk0_npo = primitive.addTransform(self.root_ctl,
self.getName("fk0_npo"), t)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length0 * self.n_factor, 0,
0),
tp=self.root_ctl)
attribute.setKeyableAttributes(
self.fk0_ctl, ["tx", "ty", "tz", "ro", "rx", "ry", "rz", "sx"])
t = transform.getTransformLookingAt(self.guide.apos[1],
self.guide.apos[2], self.normal,
"xz", self.negate)
self.fk1_npo = primitive.addTransform(self.fk0_ctl,
self.getName("fk1_npo"), t)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length1 * self.n_factor, 0,
0),
tp=self.fk0_ctl)
attribute.setKeyableAttributes(
self.fk1_ctl, ["tx", "ty", "tz", "ro", "rx", "ry", "rz", "sx"])
t = transform.getTransformLookingAt(self.guide.apos[2],
self.guide.apos[3], self.normal,
"xz", self.negate)
self.fk2_npo = primitive.addTransform(self.fk1_ctl,
self.getName("fk2_npo"), t)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length2 * self.n_factor, 0,
0),
tp=self.fk1_ctl)
attribute.setKeyableAttributes(self.fk2_ctl)
self.fk_ctl = [self.fk0_ctl, self.fk1_ctl, self.fk2_ctl]
for x in self.fk_ctl:
attribute.setInvertMirror(x, ["tx", "ty", "tz"])
# IK Controlers -----------------------------------
self.ik_cns = primitive.addTransformFromPos(self.root_ctl,
self.getName("ik_cns"),
self.guide.pos["ankle"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
transform.getTransformFromPos(
self.guide.pos["ankle"]),
self.color_ik,
"null",
w=self.size * .12,
tp=self.root_ctl)
attribute.setInvertMirror(self.ikcns_ctl, ["tx"])
m = transform.getTransformLookingAt(self.guide.pos["ankle"],
self.guide.pos["eff"], self.x_axis,
"zx", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
transform.getTransformFromPos(
self.guide.pos["ankle"]),
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12,
tp=self.ikcns_ctl)
attribute.setKeyableAttributes(self.ik_ctl)
attribute.setRotOrder(self.ik_ctl, "XZY")
attribute.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
self.upv_cns = primitive.addTransformFromPos(self.ik_ctl,
self.getName("upv_cns"),
v)
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
transform.getTransform(self.upv_cns),
self.color_ik,
"diamond",
w=self.size * .12,
tp=self.root_ctl)
if self.settings["mirrorMid"]:
if self.negate:
self.upv_cns.rz.set(180)
self.upv_cns.sy.set(-1)
else:
attribute.setInvertMirror(self.upv_ctl, ["tx"])
attribute.setKeyableAttributes(self.upv_ctl, self.t_params)
# References --------------------------------------
self.ik_ref = primitive.addTransform(
self.ik_ctl, self.getName("ik_ref"),
transform.getTransform(self.ik_ctl))
self.fk_ref = primitive.addTransform(
self.fk_ctl[2], self.getName("fk_ref"),
transform.getTransform(self.ik_ctl))
# Chain --------------------------------------------
# The outputs of the ikfk2bone solver
self.bone0 = primitive.addLocator(
self.root_ctl, self.getName("0_bone"),
transform.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
self.bone0.setAttr("visibility", False)
self.bone1 = primitive.addLocator(
self.root_ctl, self.getName("1_bone"),
transform.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
self.bone1.setAttr("visibility", False)
tA = transform.getTransformLookingAt(self.guide.apos[0],
self.guide.apos[1], self.normal,
"xz", self.negate)
tA = transform.setMatrixPosition(tA, self.guide.apos[1])
tB = transform.getTransformLookingAt(self.guide.apos[1],
self.guide.apos[2], self.normal,
"xz", self.negate)
t = transform.getInterpolateTransformMatrix(tA, tB)
self.ctrn_loc = primitive.addTransform(self.root,
self.getName("ctrn_loc"), t)
self.eff_loc = primitive.addTransformFromPos(self.root_ctl,
self.getName("eff_loc"),
self.guide.apos[2])
# tws_ref
t = transform.getRotationFromAxis(datatypes.Vector(0, -1, 0),
self.normal, "xz", self.negate)
t = transform.setMatrixPosition(t, self.guide.pos["ankle"])
self.tws_ref = primitive.addTransform(self.eff_loc,
self.getName("tws_ref"), t)
# Mid Controler ------------------------------------
t = transform.getTransform(self.ctrn_loc)
self.mid_cns = primitive.addTransform(self.ctrn_loc,
self.getName("mid_cns"), t)
self.mid_ctl = self.addCtl(self.mid_cns,
"mid_ctl",
t,
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.root_ctl)
if self.settings["mirrorMid"]:
if self.negate:
self.mid_cns.rz.set(180)
self.mid_cns.sz.set(-1)
else:
attribute.setInvertMirror(self.mid_ctl, ["tx", "ty", "tz"])
attribute.setKeyableAttributes(self.mid_ctl, self.t_params)
# Twist references ---------------------------------
x = datatypes.Vector(0, -1, 0)
x = x * transform.getTransform(self.eff_loc)
z = datatypes.Vector(self.normal.x, self.normal.y, self.normal.z)
z = z * transform.getTransform(self.eff_loc)
m = transform.getRotationFromAxis(x, z, "xz", self.negate)
m = transform.setMatrixPosition(m,
transform.getTranslation(self.ik_ctl))
self.tws0_loc = primitive.addTransform(
self.root_ctl, self.getName("tws0_loc"),
transform.getTransform(self.fk_ctl[0]))
self.tws0_rot = primitive.addTransform(
self.tws0_loc, self.getName("tws0_rot"),
transform.getTransform(self.fk_ctl[0]))
self.tws1_loc = primitive.addTransform(
self.ctrn_loc, self.getName("tws1_loc"),
transform.getTransform(self.ctrn_loc))
self.tws1_rot = primitive.addTransform(
self.tws1_loc, self.getName("tws1_rot"),
transform.getTransform(self.ctrn_loc))
self.tws1A_npo = primitive.addTransform(self.mid_ctl,
self.getName("tws1A_npo"), tA)
self.tws1A_loc = primitive.addTransform(self.tws1A_npo,
self.getName("tws1A_loc"), tA)
self.tws1B_npo = primitive.addTransform(self.mid_ctl,
self.getName("tws1B_npo"), tB)
self.tws1B_loc = primitive.addTransform(self.tws1B_npo,
self.getName("tws1B_loc"), tB)
self.tws2_npo = primitive.addTransform(
self.root, self.getName("tws2_npo"),
transform.getTransform(self.fk_ctl[2]))
self.tws2_loc = primitive.addTransform(
self.tws2_npo, self.getName("tws2_loc"),
transform.getTransform(self.fk_ctl[2]))
self.tws2_rot = primitive.addTransform(
self.tws2_npo, self.getName("tws2_rot"),
transform.getTransform(self.fk_ctl[2]))
# Roll twist chain ---------------------------------
# Arm
self.uplegChainPos = []
ii = 1.0 / (self.settings["div0"] + 1)
i = 0.0
for p in range(self.settings["div0"] + 2):
self.uplegChainPos.append(
vector.linearlyInterpolate(self.guide.pos["root"],
self.guide.pos["knee"],
blend=i))
i = i + ii
self.uplegTwistChain = primitive.add2DChain(
self.root, self.getName("uplegTwist%s_jnt"), self.uplegChainPos,
self.normal, False, self.WIP)
# Forearm
self.lowlegChainPos = []
ii = 1.0 / (self.settings["div1"] + 1)
i = 0.0
for p in range(self.settings["div1"] + 2):
self.lowlegChainPos.append(
vector.linearlyInterpolate(self.guide.pos["knee"],
self.guide.pos["ankle"],
blend=i))
i = i + ii
self.lowlegTwistChain = primitive.add2DChain(
self.root, self.getName("lowlegTwist%s_jnt"), self.lowlegChainPos,
self.normal, False, self.WIP)
pm.parent(self.lowlegTwistChain[0], self.mid_ctl)
# Hand Aux chain and nonroll
self.auxChainPos = []
ii = .5
i = 0.0
for p in range(3):
self.auxChainPos.append(
vector.linearlyInterpolate(self.guide.pos["ankle"],
self.guide.pos["eff"],
blend=i))
i = i + ii
t = self.root.getMatrix(worldSpace=True)
self.aux_npo = primitive.addTransform(self.root,
self.getName("aux_npo"), t)
self.auxTwistChain = primitive.add2DChain(
self.aux_npo, self.getName("auxTwist%s_jnt"),
self.lowlegChainPos[:3], self.normal, False, self.WIP)
# Non Roll join ref ---------------------------------
self.uplegRollRef = primitive.add2DChain(
self.root, self.getName("uplegRollRef%s_jnt"),
self.uplegChainPos[:2], self.normal, False, self.WIP)
self.lowlegRollRef = primitive.add2DChain(
self.aux_npo, self.getName("lowlegRollRef%s_jnt"),
self.lowlegChainPos[:2], self.normal, False, self.WIP)
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for the
# elbow. + 2 for knee angle control
self.divisions = self.settings["div0"] + self.settings["div1"] + 4
self.div_cns = []
for i in range(self.divisions):
div_cns = primitive.addTransform(self.root_ctl,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
self.jnt_pos.append([div_cns, i])
# End reference ------------------------------------
# To help the deformation on the ankle
self.end_ref = primitive.addTransform(self.eff_loc,
self.getName("end_ref"), m)
for a in "xyz":
self.end_ref.attr("s%s" % a).set(1.0)
if self.negate:
self.end_ref.attr("ry").set(-180.0)
self.jnt_pos.append([self.end_ref, 'end'])
# Tangent controls
t = transform.getInterpolateTransformMatrix(self.fk_ctl[0],
self.tws1A_npo, .5)
self.uplegTangentA_loc = primitive.addTransform(
self.root_ctl, self.getName("uplegTangentA_loc"),
self.fk_ctl[0].getMatrix(worldSpace=True))
self.uplegTangentA_npo = primitive.addTransform(
self.uplegTangentA_loc, self.getName("uplegTangentA_npo"), t)
self.uplegTangentA_ctl = self.addCtl(self.uplegTangentA_npo,
"uplegTangentA_ctl",
t,
self.color_ik,
"circle",
w=self.size * .2,
ro=datatypes.Vector(
0, 0, 1.570796),
tp=self.mid_ctl)
if self.negate:
self.uplegTangentA_npo.rz.set(180)
self.uplegTangentA_npo.sz.set(-1)
attribute.setKeyableAttributes(self.uplegTangentA_ctl, self.t_params)
t = transform.getInterpolateTransformMatrix(self.fk_ctl[0],
self.tws1A_npo, .9)
self.uplegTangentB_npo = primitive.addTransform(
self.tws1A_loc, self.getName("uplegTangentB_npo"), t)
self.uplegTangentB_ctl = self.addCtl(self.uplegTangentB_npo,
"uplegTangentB_ctl",
t,
self.color_ik,
"circle",
w=self.size * .1,
ro=datatypes.Vector(
0, 0, 1.570796),
tp=self.mid_ctl)
if self.negate:
self.uplegTangentB_npo.rz.set(180)
self.uplegTangentB_npo.sz.set(-1)
attribute.setKeyableAttributes(self.uplegTangentB_ctl, self.t_params)
tC = self.tws1B_npo.getMatrix(worldSpace=True)
tC = transform.setMatrixPosition(tC, self.guide.apos[2])
t = transform.getInterpolateTransformMatrix(self.tws1B_npo, tC, .1)
self.lowlegTangentA_npo = primitive.addTransform(
self.tws1B_loc, self.getName("lowlegTangentA_npo"), t)
self.lowlegTangentA_ctl = self.addCtl(self.lowlegTangentA_npo,
"lowlegTangentA_ctl",
t,
self.color_ik,
"circle",
w=self.size * .1,
ro=datatypes.Vector(
0, 0, 1.570796),
tp=self.mid_ctl)
if self.negate:
self.lowlegTangentA_npo.rz.set(180)
self.lowlegTangentA_npo.sz.set(-1)
attribute.setKeyableAttributes(self.lowlegTangentA_ctl, self.t_params)
t = transform.getInterpolateTransformMatrix(self.tws1B_npo, tC, .5)
self.lowlegTangentB_loc = primitive.addTransform(
self.root, self.getName("lowlegTangentB_loc"), tC)
self.lowlegTangentB_npo = primitive.addTransform(
self.lowlegTangentB_loc, self.getName("lowlegTangentB_npo"), t)
self.lowlegTangentB_ctl = self.addCtl(self.lowlegTangentB_npo,
"lowlegTangentB_ctl",
t,
self.color_ik,
"circle",
w=self.size * .2,
ro=datatypes.Vector(
0, 0, 1.570796),
tp=self.mid_ctl)
if self.negate:
self.lowlegTangentB_npo.rz.set(180)
self.lowlegTangentB_npo.sz.set(-1)
attribute.setKeyableAttributes(self.lowlegTangentB_ctl, self.t_params)
t = self.mid_ctl.getMatrix(worldSpace=True)
self.kneeTangent_npo = primitive.addTransform(
self.mid_ctl, self.getName("kneeTangent_npo"), t)
self.kneeTangent_ctl = self.addCtl(self.kneeTangent_npo,
"kneeTangent_ctl",
t,
self.color_fk,
"circle",
w=self.size * .25,
ro=datatypes.Vector(0, 0, 1.570796),
tp=self.mid_ctl)
if self.negate:
self.kneeTangent_npo.rz.set(180)
self.kneeTangent_npo.sz.set(-1)
attribute.setKeyableAttributes(self.kneeTangent_ctl, self.t_params)
# match IK FK references
self.match_fk0_off = primitive.addTransform(
self.root, self.getName("matchFk0_npo"),
transform.getTransform(self.fk_ctl[1]))
self.match_fk0 = primitive.addTransform(
self.match_fk0_off, self.getName("fk0_mth"),
transform.getTransform(self.fk_ctl[0]))
self.match_fk1_off = primitive.addTransform(
self.root, self.getName("matchFk1_npo"),
transform.getTransform(self.fk_ctl[2]))
self.match_fk1 = primitive.addTransform(
self.match_fk1_off, self.getName("fk1_mth"),
transform.getTransform(self.fk_ctl[1]))
self.match_fk2 = primitive.addTransform(
self.ik_ctl, self.getName("fk2_mth"),
transform.getTransform(self.fk_ctl[2]))
self.match_ik = primitive.addTransform(
self.fk2_ctl, self.getName("ik_mth"),
transform.getTransform(self.ik_ctl))
self.match_ikUpv = primitive.addTransform(
self.fk0_ctl, self.getName("upv_mth"),
transform.getTransform(self.upv_ctl))
# add visual reference
self.line_ref = icon.connection_display_curve(
self.getName("visalRef"), [self.upv_ctl, self.mid_ctl])
def addObjects(self):
"""Add all the objects needed to create the component."""
self.WIP = self.options["mode"]
self.normal = self.getNormalFromPos(self.guide.apos)
self.binormal = self.getBiNormalFromPos(self.guide.apos)
self.length0 = vector.getDistance(self.guide.apos[0],
self.guide.apos[1])
self.length1 = vector.getDistance(self.guide.apos[1],
self.guide.apos[2])
self.length2 = vector.getDistance(self.guide.apos[2],
self.guide.apos[3])
# 1 bone chain for upv ref
self.armChainUpvRef = primitive.add2DChain(
self.root,
self.getName("armUpvRef%s_jnt"),
[self.guide.apos[0], self.guide.apos[2]],
self.normal, False, self.WIP)
negateOri = self.armChainUpvRef[1].getAttr("jointOrientZ") * -1
self.armChainUpvRef[1].setAttr("jointOrientZ", negateOri)
# FK Controlers -----------------------------------
t = transform.getTransformLookingAt(self.guide.apos[0],
self.guide.apos[1],
self.normal, "xz",
self.negate)
self.fk0_npo = primitive.addTransform(self.root,
self.getName("fk0_npo"),
t)
vec_po = datatypes.Vector(.5 * self.length0 * self.n_factor, 0, 0)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0,
h=self.size * .1,
d=self.size * .1,
po=vec_po,
tp=self.parentCtlTag)
attribute.setKeyableAttributes(
self.fk0_ctl,
["tx", "ty", "tz", "ro", "rx", "ry", "rz", "sx"])
t = transform.getTransformLookingAt(self.guide.apos[1],
self.guide.apos[2],
self.normal,
"xz",
self.negate)
self.fk1_npo = primitive.addTransform(self.fk0_ctl,
self.getName("fk1_npo"),
t)
vec_po = datatypes.Vector(.5 * self.length1 * self.n_factor, 0, 0)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=vec_po,
tp=self.fk0_ctl)
attribute.setKeyableAttributes(
self.fk1_ctl,
["tx", "ty", "tz", "ro", "rx", "ry", "rz", "sx"])
t = transform.getTransformLookingAt(self.guide.apos[2],
self.guide.apos[3],
self.normal,
"xz",
self.negate)
self.fk2_npo = primitive.addTransform(self.fk1_ctl,
self.getName("fk2_npo"),
t)
vec_po = datatypes.Vector(.5 * self.length2 * self.n_factor, 0, 0)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=vec_po,
tp=self.fk1_ctl)
attribute.setKeyableAttributes(self.fk2_ctl)
self.fk_ctl = [self.fk0_ctl, self.fk1_ctl, self.fk2_ctl]
for x in self.fk_ctl:
attribute.setInvertMirror(x, ["tx", "ty", "tz"])
# IK upv ---------------------------------
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
self.upv_cns = primitive.addTransformFromPos(self.root,
self.getName("upv_cns"),
v)
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
transform.getTransform(self.upv_cns),
self.color_ik,
"diamond",
w=self.size * .12,
tp=self.parentCtlTag)
if self.settings["mirrorMid"]:
if self.negate:
self.upv_cns.rz.set(180)
self.upv_cns.sy.set(-1)
else:
attribute.setInvertMirror(self.upv_ctl, ["tx"])
attribute.setKeyableAttributes(self.upv_ctl, self.t_params)
# IK Controlers -----------------------------------
self.ik_cns = primitive.addTransformFromPos(
self.root, self.getName("ik_cns"), self.guide.pos["wrist"])
t = transform.getTransformFromPos(self.guide.pos["wrist"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
t,
self.color_ik,
"null",
w=self.size * .12,
tp=self.parentCtlTag)
attribute.setInvertMirror(self.ikcns_ctl, ["tx", "ty", "tz"])
if self.negate:
m = transform.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal,
"x-y",
True)
else:
m = transform.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal,
"xy",
False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
m,
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12,
tp=self.upv_ctl)
if self.settings["mirrorIK"]:
if self.negate:
self.ik_cns.sx.set(-1)
self.ik_ctl.rz.set(self.ik_ctl.rz.get() * -1)
else:
attribute.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
attribute.setKeyableAttributes(self.ik_ctl)
self.ik_ctl_ref = primitive.addTransform(self.ik_ctl,
self.getName("ikCtl_ref"),
m)
# IK rotation controls
if self.settings["ikTR"]:
self.ikRot_npo = primitive.addTransform(self.root,
self.getName("ikRot_npo"),
m)
self.ikRot_cns = primitive.addTransform(self.ikRot_npo,
self.getName("ikRot_cns"),
m)
self.ikRot_ctl = self.addCtl(self.ikRot_cns,
"ikRot_ctl",
m,
self.color_ik,
"sphere",
w=self.size * .12,
tp=self.ik_ctl)
attribute.setKeyableAttributes(self.ikRot_ctl, self.r_params)
# References --------------------------------------
# Calculate again the transfor for the IK ref. This way align with FK
trnIK_ref = transform.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal,
"xz",
self.negate)
self.ik_ref = primitive.addTransform(self.ik_ctl_ref,
self.getName("ik_ref"),
trnIK_ref)
self.fk_ref = primitive.addTransform(self.fk_ctl[2],
self.getName("fk_ref"),
trnIK_ref)
# Chain --------------------------------------------
# The outputs of the ikfk2bone solver
self.bone0 = primitive.addLocator(
self.root,
self.getName("0_bone"),
transform.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
self.bone0.setAttr("visibility", False)
self.bone1 = primitive.addLocator(
self.root,
self.getName("1_bone"),
transform.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
self.bone1.setAttr("visibility", False)
self.ctrn_loc = primitive.addTransformFromPos(self.root,
self.getName("ctrn_loc"),
self.guide.apos[1])
self.eff_loc = primitive.addTransformFromPos(self.root,
self.getName("eff_loc"),
self.guide.apos[2])
# Mid Controler ------------------------------------
t = transform.getTransform(self.ctrn_loc)
self.mid_cns = primitive.addTransform(self.ctrn_loc,
self.getName("mid_cns"),
t)
self.mid_ctl = self.addCtl(self.mid_cns,
"mid_ctl",
t,
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.parentCtlTag)
attribute.setKeyableAttributes(self.mid_ctl,
params=["tx", "ty", "tz",
"ro", "rx", "ry", "rz",
"sx"])
if self.settings["mirrorMid"]:
if self.negate:
self.mid_cns.rz.set(180)
self.mid_cns.sz.set(-1)
self.mid_ctl_twst_npo = primitive.addTransform(
self.mid_ctl,
self.getName("mid_twst_npo"),
t)
self.mid_ctl_twst_ref = primitive.addTransform(
self.mid_ctl_twst_npo,
self.getName("mid_twst_ref"),
t)
else:
self.mid_ctl_twst_ref = self.mid_ctl
attribute.setInvertMirror(self.mid_ctl, ["tx", "ty", "tz"])
# Roll join ref
self.rollRef = primitive.add2DChain(self.root, self.getName(
"rollChain"), self.guide.apos[:2], self.normal, self.negate)
for x in self.rollRef:
x.setAttr("visibility", False)
self.tws0_loc = primitive.addTransform(
self.rollRef[0],
self.getName("tws0_loc"),
transform.getTransform(self.fk_ctl[0]))
self.tws0_rot = primitive.addTransform(
self.tws0_loc,
self.getName("tws0_rot"),
transform.getTransform(self.fk_ctl[0]))
self.tws1_npo = primitive.addTransform(
self.ctrn_loc,
self.getName("tws1_npo"),
transform.getTransform(self.ctrn_loc))
self.tws1_loc = primitive.addTransform(
self.tws1_npo,
self.getName("tws1_loc"),
transform.getTransform(self.ctrn_loc))
self.tws1_rot = primitive.addTransform(
self.tws1_loc,
self.getName("tws1_rot"),
transform.getTransform(self.ctrn_loc))
self.tws2_npo = primitive.addTransform(
self.root,
self.getName("tws2_npo"),
transform.getTransform(self.fk_ctl[2]))
self.tws2_loc = primitive.addTransform(
self.tws2_npo,
self.getName("tws2_loc"),
transform.getTransform(self.fk_ctl[2]))
self.tws2_rot = primitive.addTransform(
self.tws2_loc,
self.getName("tws2_rot"),
transform.getTransform(self.fk_ctl[2]))
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for the
# elbow. + 2 for elbow angle control
self.divisions = self.settings["div0"] + self.settings["div1"] + 3 + 2
self.div_cns = []
if self.settings["extraTweak"]:
tagP = self.parentCtlTag
self.tweak_ctl = []
for i in range(self.divisions):
div_cns = primitive.addTransform(self.root,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
if self.settings["extraTweak"]:
t = transform.getTransform(div_cns)
tweak_ctl = self.addCtl(div_cns,
"tweak%s_ctl" % i,
t,
self.color_fk,
"square",
w=self.size * .15,
d=self.size * .15,
ro=datatypes.Vector([0, 0, 1.5708]),
tp=tagP)
attribute.setKeyableAttributes(tweak_ctl)
tagP = tweak_ctl
self.tweak_ctl.append(tweak_ctl)
self.jnt_pos.append([tweak_ctl, i, None, False])
else:
self.jnt_pos.append([div_cns, i])
# End reference ------------------------------------
# To help the deformation on the wrist
self.jnt_pos.append([self.eff_loc, 'end'])
# match IK FK references
self.match_fk0_off = primitive.addTransform(
self.root,
self.getName("matchFk0_npo"),
transform.getTransform(self.fk_ctl[1]))
self.match_fk0 = primitive.addTransform(
self.match_fk0_off,
self.getName("fk0_mth"),
transform.getTransform(self.fk_ctl[0]))
self.match_fk1_off = primitive.addTransform(
self.root, self.getName(
"matchFk1_npo"), transform.getTransform(self.fk_ctl[2]))
self.match_fk1 = primitive.addTransform(
self.match_fk1_off,
self.getName("fk1_mth"),
transform.getTransform(self.fk_ctl[1]))
if self.settings["ikTR"]:
reference = self.ikRot_ctl
self.match_ikRot = primitive.addTransform(
self.fk2_ctl,
self.getName("ikRot_mth"),
transform.getTransform(self.ikRot_ctl))
else:
reference = self.ik_ctl
self.match_fk2 = primitive.addTransform(
reference,
self.getName("fk2_mth"),
transform.getTransform(self.fk_ctl[2]))
self.match_ik = primitive.addTransform(
self.fk2_ctl,
self.getName("ik_mth"),
transform.getTransform(self.ik_ctl))
self.match_ikUpv = primitive.addTransform(
self.fk0_ctl,
self.getName("upv_mth"),
transform.getTransform(self.upv_ctl))
def addObjects(self):
"""Add all the objects needed to create the component."""
self.setup = primitive.addTransformFromPos(self.setupWS,
self.getName("WS"))
attribute.lockAttribute(self.setup)
self.WIP = self.options["mode"]
self.normal = self.getNormalFromPos(self.guide.apos)
self.length0 = vector.getDistance(self.guide.apos[0],
self.guide.apos[1])
self.length1 = vector.getDistance(self.guide.apos[1],
self.guide.apos[2])
self.length2 = vector.getDistance(self.guide.apos[2],
self.guide.apos[3])
self.length3 = vector.getDistance(self.guide.apos[3],
self.guide.apos[4])
# 3bones chain
self.chain3bones = primitive.add2DChain(
self.setup, self.getName("chain3bones%s_jnt"),
self.guide.apos[0:4], self.normal, False, self.WIP)
# 2bones chain
self.chain2bones = primitive.add2DChain(
self.setup, self.getName("chain2bones%s_jnt"),
self.guide.apos[0:3], self.normal, False, self.WIP)
# Leg chain
self.legBones = primitive.add2DChain(self.root,
self.getName("legBones%s_jnt"),
self.guide.apos[0:4], self.normal,
False, self.WIP)
# Leg chain FK ref
self.legBonesFK = primitive.add2DChain(self.root,
self.getName("legFK%s_jnt"),
self.guide.apos[0:4],
self.normal, False, self.WIP)
# Leg chain IK ref
self.legBonesIK = primitive.add2DChain(self.root,
self.getName("legIK%s_jnt"),
self.guide.apos[0:4],
self.normal, False, self.WIP)
# 1 bone chain for upv ref
self.legChainUpvRef = primitive.add2DChain(
self.root, self.getName("legUpvRef%s_jnt"),
[self.guide.apos[0], self.guide.apos[3]], self.normal, False,
self.WIP)
# mid joints
self.mid1_jnt = primitive.addJoint(
self.legBones[0], self.getName("mid1_jnt"),
self.legBones[1].getMatrix(worldSpace=True), self.WIP)
self.mid1_jnt.attr("radius").set(3)
self.mid1_jnt.setAttr("jointOrient", 0, 0, 0)
self.mid2_jnt = primitive.addJoint(
self.legBones[1], self.getName("mid2_jnt"),
self.legBones[2].getMatrix(worldSpace=True), self.WIP)
self.mid2_jnt.attr("radius").set(3)
self.mid2_jnt.setAttr("jointOrient", 0, 0, 0)
# base Controlers -----------------------------------
t = transform.getTransformFromPos(self.guide.apos[0])
self.root_npo = primitive.addTransform(self.root,
self.getName("root_npo"), t)
self.root_ctl = self.addCtl(self.root_npo,
"root_ctl",
t,
self.color_fk,
"circle",
w=self.length0 / 6,
tp=self.parentCtlTag)
attribute.lockAttribute(self.root_ctl, ["sx", "sy", "sz", "v"])
# FK Controlers -----------------------------------
t = transform.getTransformLookingAt(self.guide.apos[0],
self.guide.apos[1], self.normal,
"xz", self.negate)
self.fk0_npo = primitive.addTransform(self.root_ctl,
self.getName("fk0_npo"), t)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length0 * self.n_factor, 0,
0),
tp=self.root_ctl)
attribute.setKeyableAttributes(self.fk0_ctl)
t = transform.getTransformLookingAt(self.guide.apos[1],
self.guide.apos[2], self.normal,
"xz", self.negate)
self.fk1_npo = primitive.addTransform(self.fk0_ctl,
self.getName("fk1_npo"), t)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length1 * self.n_factor, 0,
0),
tp=self.fk0_ctl)
attribute.setKeyableAttributes(self.fk1_ctl)
t = transform.getTransformLookingAt(self.guide.apos[2],
self.guide.apos[3], self.normal,
"xz", self.negate)
self.fk2_npo = primitive.addTransform(self.fk1_ctl,
self.getName("fk2_npo"), t)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length2 * self.n_factor, 0,
0),
tp=self.fk1_ctl)
attribute.setKeyableAttributes(self.fk2_ctl)
t = transform.getTransformLookingAt(self.guide.apos[3],
self.guide.apos[4], self.normal,
"xz", self.negate)
self.fk3_npo = primitive.addTransform(self.fk2_ctl,
self.getName("fk3_npo"), t)
self.fk3_ctl = self.addCtl(self.fk3_npo,
"fk3_ctl",
t,
self.color_fk,
"cube",
w=self.length3,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length3 * self.n_factor, 0,
0),
tp=self.fk2_ctl)
attribute.setKeyableAttributes(self.fk3_ctl)
self.fk_ctl = [self.fk0_ctl, self.fk1_ctl, self.fk2_ctl, self.fk3_ctl]
for x in self.fk_ctl:
attribute.setInvertMirror(x, ["tx", "ty", "tz"])
# Mid Controlers ------------------------------------
self.knee_lvl = primitive.addTransform(
self.root, self.getName("knee_lvl"),
transform.getTransform(self.mid1_jnt))
self.knee_ctl = self.addCtl(self.knee_lvl,
"knee_ctl",
transform.getTransform(self.mid1_jnt),
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.root_ctl)
attribute.setInvertMirror(self.knee_ctl, ["tx", "ty", "tz"])
attribute.lockAttribute(self.knee_ctl, ["sx", "sy", "sz", "v"])
self.ankle_lvl = primitive.addTransform(
self.root, self.getName("ankle_lvl"),
transform.getTransform(self.mid2_jnt))
self.ankle_ctl = self.addCtl(self.ankle_lvl,
"ankle_ctl",
transform.getTransform(self.mid2_jnt),
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.knee_ctl)
attribute.setInvertMirror(self.ankle_ctl, ["tx", "ty", "tz"])
attribute.lockAttribute(self.ankle_ctl, ["sx", "sy", "sz", "v"])
# IK controls --------------------------------------------------------
# foot IK
if self.settings["ikOri"]:
t = transform.getTransformLookingAt(self.guide.pos["foot"],
self.guide.pos["eff"],
self.x_axis, "zx", False)
else:
t = transform.getTransformLookingAt(self.guide.apos[3],
self.guide.apos[4],
self.normal, "z-x", False)
self.ik_cns = primitive.addTransform(self.root_ctl,
self.getName("ik_cns"), t)
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
t,
self.color_ik,
"null",
w=self.size * .12,
tp=self.ankle_ctl)
attribute.setInvertMirror(self.ikcns_ctl, ["tx"])
attribute.lockAttribute(self.ikcns_ctl, ["sx", "sy", "sz", "v"])
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
t,
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12,
tp=self.ikcns_ctl)
attribute.setKeyableAttributes(self.ik_ctl)
attribute.setRotOrder(self.ik_ctl, "XZY")
attribute.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
attribute.lockAttribute(self.ik_ctl, ["sx", "sy", "sz", "v"])
# 2 bones ik layer
self.ik2b_ikCtl_ref = primitive.addTransform(
self.ik_ctl, self.getName("ik2B_A_ref"), t)
self.ik2b_bone_ref = primitive.addTransform(self.chain3bones[3],
self.getName("ik2B_B_ref"),
t)
self.ik2b_blend = primitive.addTransform(self.ik_ctl,
self.getName("ik2B_blend"), t)
self.roll_ctl = self.addCtl(self.ik2b_blend,
"roll_ctl",
t,
self.color_ik,
"crossarrow",
w=self.length2 * .5 * self.n_factor,
tp=self.ik_ctl)
self.ik2b_ik_npo = primitive.addTransform(
self.roll_ctl, self.getName("ik2B_ik_npo"),
transform.getTransform(self.chain3bones[-1]))
self.ik2b_ik_ref = primitive.addTransformFromPos(
self.ik2b_ik_npo, self.getName("ik2B_ik_ref"),
self.guide.pos["ankle"])
attribute.lockAttribute(self.roll_ctl,
["tx", "ty", "tz", "sx", "sy", "sz", "v"])
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
self.upv_lvl = primitive.addTransformFromPos(self.root,
self.getName("upv_lvl"),
v)
self.upv_cns = primitive.addTransformFromPos(self.upv_lvl,
self.getName("upv_cns"),
v)
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
transform.getTransform(self.upv_cns),
self.color_ik,
"diamond",
w=self.size * .12,
tp=self.ik_ctl)
attribute.setInvertMirror(self.upv_ctl, ["tx"])
attribute.setKeyableAttributes(self.upv_ctl, ["tx", "ty", "tz"])
# Soft IK objects 3 bones chain --------------------------------
t = transform.getTransformLookingAt(self.guide.pos["root"],
self.guide.pos["foot"],
self.x_axis, "zx", False)
self.aim_tra = primitive.addTransform(self.root_ctl,
self.getName("aimSoftIK"), t)
t = transform.getTransformFromPos(self.guide.pos["foot"])
self.wristSoftIK = primitive.addTransform(self.aim_tra,
self.getName("wristSoftIK"),
t)
self.softblendLoc = primitive.addTransform(
self.root, self.getName("softblendLoc"), t)
# Soft IK objects 2 Bones chain ----------------------------
t = transform.getTransformLookingAt(self.guide.pos["root"],
self.guide.pos["ankle"],
self.x_axis, "zx", False)
self.aim_tra2 = primitive.addTransform(self.root_ctl,
self.getName("aimSoftIK2"), t)
t = transform.getTransformFromPos(self.guide.pos["ankle"])
self.ankleSoftIK = primitive.addTransform(self.aim_tra2,
self.getName("ankleSoftIK"),
t)
self.softblendLoc2 = primitive.addTransform(
self.root, self.getName("softblendLoc2"), t)
# References --------------------------------------
self.ik_ref = primitive.addTransform(
self.ik_ctl, self.getName("ik_ref"),
transform.getTransform(self.ik_ctl))
self.fk_ref = primitive.addTransform(
self.fk_ctl[3], self.getName("fk_ref"),
transform.getTransform(self.ik_ctl))
# twist references --------------------------------------
self.rollRef = primitive.add2DChain(self.root,
self.getName("rollChain"),
self.guide.apos[:2], self.normal,
False, self.WIP)
self.tws0_loc = primitive.addTransform(
self.rollRef[0], self.getName("tws0_loc"),
transform.getTransform(self.legBones[0]))
self.tws0_rot = primitive.addTransform(
self.tws0_loc, self.getName("tws0_rot"),
transform.getTransform(self.legBones[0]))
self.tws0_rot.setAttr("sx", .001)
self.tws1_loc = primitive.addTransform(
self.mid1_jnt, self.getName("tws1_loc"),
transform.getTransform(self.mid1_jnt))
self.tws1_rot = primitive.addTransform(
self.tws1_loc, self.getName("tws1_rot"),
transform.getTransform(self.mid1_jnt))
self.tws1_rot.setAttr("sx", .001)
self.tws2_loc = primitive.addTransform(
self.mid2_jnt, self.getName("tws2_loc"),
transform.getTransform(self.mid2_jnt))
self.tws2_rot = primitive.addTransform(
self.tws2_loc, self.getName("tws2_rot"),
transform.getTransform(self.mid2_jnt))
self.tws2_rot.setAttr("sx", .001)
self.tws3_loc = primitive.addTransform(
self.legBones[3], self.getName("tws3_loc"),
transform.getTransform(self.legBones[3]))
self.tws3_rot = primitive.addTransform(
self.tws3_loc, self.getName("tws3_rot"),
transform.getTransform(self.legBones[3]))
self.tws3_rot.setAttr("sx", .001)
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for
# the knee and one ankle
o_set = self.settings
self.divisions = o_set["div0"] + o_set["div1"] + o_set["div2"] + 4
self.div_cns = []
for i in range(self.divisions):
div_cns = primitive.addTransform(self.root_ctl,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
self.jnt_pos.append([div_cns, i])
# End reference ------------------------------------
# To help the deformation on the foot
self.end_ref = primitive.addTransform(
self.tws3_rot, self.getName("end_ref"),
transform.getTransform(self.legBones[3]))
self.jnt_pos.append([self.end_ref, 'end'])
def addObjects(self):
self.normal = self.getNormalFromPos(self.guide.apos)
self.binormal = self.getBiNormalFromPos(self.guide.apos)
self.length0 = vec.getDistance(self.guide.apos[0], self.guide.apos[1])
self.length1 = vec.getDistance(self.guide.apos[1], self.guide.apos[2])
self.length2 = vec.getDistance(self.guide.apos[2], self.guide.apos[3])
# FK Controlers -----------------------------------
# *ms* set npo @ Tpose, to make the fk rotation work best with rot order"yzx"
self.fk_cns = pri.addTransformFromPos(self.root,
self.getName("fk_cns"),
self.guide.apos[0])
tpv = self.guide.apos[0] + (
(self.guide.apos[1] - self.guide.apos[0]) * [1, 0, 0])
t = tra.getTransformLookingAt(self.guide.apos[0], tpv, self.normal,
"xz", self.negate)
# *ms* add FK isolation
self.fk0_npo = pri.addTransform(self.fk_cns, self.getName("fk0_npo"),
t)
t = tra.getTransformLookingAt(self.guide.apos[0], self.guide.apos[1],
self.normal, "xz", self.negate)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0 * .55,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.35 * self.length0 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk0_ctl)
# *ms* add fk roll control Simage style
self.fk0_roll_ctl = self.addCtl(self.fk0_ctl,
"fk0_roll_ctl",
t,
self.color_fk,
"cube",
w=self.length0 * .45,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.85 * self.length0 * self.n_factor,
0, 0))
att.setKeyableAttributes(self.fk0_roll_ctl)
t = tra.getTransformLookingAt(self.guide.apos[1], self.guide.apos[2],
self.normal, "xz", self.negate)
self.fk1_npo = pri.addTransform(self.fk0_roll_ctl,
self.getName("fk1_npo"), t)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length1 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk1_ctl)
t = tra.getTransformLookingAt(self.guide.apos[2], self.guide.apos[3],
self.normal, "xz", self.negate)
# *ms* buffer object to feed into ikfk solver for hand seperation
self.fk2_mtx = pri.addTransform(self.fk1_ctl, self.getName("fk2_mtx"),
t)
# fk2_npo is need to take the effector position
self.fk2_npo = pri.addTransform(self.fk1_ctl, self.getName("fk2_npo"),
t)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length2 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk2_ctl)
self.fk_ctl = [self.fk0_roll_ctl, self.fk1_ctl, self.fk2_ctl]
for x in self.fk_ctl:
att.setInvertMirror(x, ["tx", "ty", "tz"])
# IK Controlers -----------------------------------
self.ik_cns = pri.addTransformFromPos(self.root,
self.getName("ik_cns"),
self.guide.pos["wrist"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
tra.getTransformFromPos(
self.guide.pos["wrist"]),
self.color_ik,
"null",
w=self.size * .12)
att.setInvertMirror(self.ikcns_ctl, ["tx", "ty", "tz"])
if self.negate:
m = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"], self.normal,
"x-y", True)
else:
m = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"], self.normal,
"xy", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
m,
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12)
att.setKeyableAttributes(self.ik_ctl)
att.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
# *ms* auto up vector ------------------------------
self.upv_cns = pri.addTransformFromPos(self.root,
self.getName("upv_cns"),
self.guide.apos[0])
self.upv_auv = pri.addTransformFromPos(self.upv_cns,
self.getName("upv_auv"),
self.guide.apos[0])
self.upv_mtx = pri.addTransformFromPos(self.upv_cns,
self.getName("upv_mtx"),
self.guide.apos[0])
self.upv_npo = pri.addTransformFromPos(self.upv_mtx,
self.getName("upv_npo"), v)
self.upv_ctl = self.addCtl(self.upv_npo,
"upv_ctl",
tra.getTransform(self.upv_npo),
self.color_ik,
"diamond",
w=self.size * .12)
att.setKeyableAttributes(self.upv_ctl, self.t_params)
att.setInvertMirror(self.upv_ctl, ["tx"])
# References --------------------------------------
# Calculate again the transfor for the IK ref. This way align with FK
trnIK_ref = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal, "xz", self.negate)
self.ik_ref = pri.addTransform(self.ik_ctl, self.getName("ik_ref"),
trnIK_ref)
self.fk_ref = pri.addTransform(self.fk_ctl[2], self.getName("fk_ref"),
trnIK_ref)
# Chain --------------------------------------------
# The outputs of the ikfk2bone solver
self.bone0 = pri.addLocator(self.root, self.getName("0_bone"),
tra.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
self.bone0.setAttr("visibility", False)
self.bone1 = pri.addLocator(self.root, self.getName("1_bone"),
tra.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
self.bone1.setAttr("visibility", False)
self.ctrn_loc = pri.addTransformFromPos(self.root,
self.getName("ctrn_loc"),
self.guide.apos[1])
self.eff_npo = pri.addTransformFromPos(self.root,
self.getName("eff_npo"),
self.guide.apos[2])
self.eff_loc = pri.addTransformFromPos(self.eff_npo,
self.getName("eff_loc"),
self.guide.apos[2])
# Mid Controler ------------------------------------
self.mid_ctl = self.addCtl(self.ctrn_loc,
"mid_ctl",
tra.getTransform(self.ctrn_loc),
self.color_ik,
"sphere",
w=self.size * .2)
att.setInvertMirror(self.mid_ctl, ["tx", "ty", "tz"])
# *ms* add elbow thickness
# # Twist references ---------------------------------
# x = dt.Vector(0,-1,0)
# x = x * tra.getTransform(self.eff_loc)
# z = dt.Vector(self.normal.x,self.normal.y,self.normal.z)
# z = z * tra.getTransform(self.eff_loc)
# m = tra.getRotationFromAxis(x, z, "xz", self.negate)
# m = tra.setMatrixPosition(m, tra.getTranslation(self.ik_ctl))
#Roll join ref
#self.rollRef = pri.add2DChain(self.root, self.getName("rollChain"), self.guide.apos[:2], self.normal, self.negate)
#for x in self.rollRef:
# x.setAttr("visibility", False)
self.tws0_npo = pri.addTransform(self.root, self.getName("tws0_npo"),
tra.getTransform(self.fk_ctl[0]))
self.tws0_loc = pri.addTransform(self.tws0_npo,
self.getName("tws0_loc"),
tra.getTransform(self.fk_ctl[0]))
self.tws0_rot = pri.addTransform(self.tws0_loc,
self.getName("tws0_rot"),
tra.getTransform(self.fk_ctl[0]))
self.tws1_npo = pri.addTransform(self.ctrn_loc,
self.getName("tws1_npo"),
tra.getTransform(self.ctrn_loc))
self.tws1_loc = pri.addTransform(self.tws1_npo,
self.getName("tws1_loc"),
tra.getTransform(self.ctrn_loc))
self.tws1_rot = pri.addTransform(self.tws1_loc,
self.getName("tws1_rot"),
tra.getTransform(self.ctrn_loc))
self.tws2_npo = pri.addTransform(self.root, self.getName("tws2_npo"),
tra.getTransform(self.fk_ctl[2]))
self.tws2_loc = pri.addTransform(self.tws2_npo,
self.getName("tws2_loc"),
tra.getTransform(self.fk_ctl[2]))
self.tws2_rot = pri.addTransform(self.tws2_loc,
self.getName("tws2_rot"),
tra.getTransform(self.fk_ctl[2]))
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for the elbow. + 2 for elbow angle control
self.divisions = self.settings["div0"] + self.settings["div1"] + 3 + 2
self.div_cns = []
for i in range(self.divisions):
div_cns = pri.addTransform(self.root,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
self.jnt_pos.append([div_cns, i])
# End reference ------------------------------------
# To help the deformation on the wrist
self.jnt_pos.append([self.eff_loc, 'end'])
# self.end_ref = pri.addTransform(self.eff_loc, self.getName("end_ref"), m)
# for a in "xyz":
# self.end_ref.attr("s%s"%a).set(1.0)
# self.end_ref.attr("r%s"%a).set(0.0)
# self.jnt_pos.append([self.end_ref, 'end'])
#match IK FK references
self.match_fk0_off = pri.addTransform(self.root,
self.getName("matchFk0_npo"),
tra.getTransform(self.fk_ctl[1]))
# self.match_fk0_off.attr("tx").set(1.0)
self.match_fk0 = pri.addTransform(self.match_fk0_off,
self.getName("fk0_mth"),
tra.getTransform(self.fk_ctl[0]))
self.match_fk1_off = pri.addTransform(self.root,
self.getName("matchFk1_npo"),
tra.getTransform(self.fk_ctl[2]))
# self.match_fk1_off.attr("tx").set(1.0)
self.match_fk1 = pri.addTransform(self.match_fk1_off,
self.getName("fk1_mth"),
tra.getTransform(self.fk_ctl[1]))
self.match_fk2 = pri.addTransform(self.ik_ctl, self.getName("fk2_mth"),
tra.getTransform(self.fk_ctl[2]))
self.match_ik = pri.addTransform(self.fk2_ctl, self.getName("ik_mth"),
tra.getTransform(self.ik_ctl))
self.match_ikUpv = pri.addTransform(self.fk0_ctl,
self.getName("upv_mth"),
tra.getTransform(self.upv_ctl))
def addObjects(self):
"""Add all the objects needed to create the component."""
self.WIP = self.options["mode"]
self.normal = self.getNormalFromPos(self.guide.apos)
self.length0 = vector.getDistance(self.guide.apos[0],
self.guide.apos[1])
self.length1 = vector.getDistance(self.guide.apos[1],
self.guide.apos[2])
self.length2 = vector.getDistance(self.guide.apos[2],
self.guide.apos[3])
# 1 bone chain for upv ref
self.legChainUpvRef = primitive.add2DChain(
self.root, self.getName("legUpvRef%s_jnt"),
[self.guide.apos[0], self.guide.apos[2]], self.normal, False,
self.WIP)
self.legChainUpvRef[1].setAttr(
"jointOrientZ",
self.legChainUpvRef[1].getAttr("jointOrientZ") * -1)
# extra neutral pose
t = transform.getTransformFromPos(self.guide.apos[0])
self.root_npo = primitive.addTransform(self.root,
self.getName("root_npo"), t)
self.root_ctl = self.addCtl(self.root_npo,
"root_ctl",
t,
self.color_fk,
"circle",
w=self.length0 / 6,
tp=self.parentCtlTag)
# FK Controlers -----------------------------------
t = transform.getTransformLookingAt(self.guide.apos[0],
self.guide.apos[1], self.normal,
"xz", self.negate)
self.fk0_npo = primitive.addTransform(self.root_ctl,
self.getName("fk0_npo"), t)
po_vec = datatypes.Vector(.5 * self.length0 * self.n_factor, 0, 0)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0,
h=self.size * .1,
d=self.size * .1,
po=po_vec,
tp=self.root_ctl)
attribute.setKeyableAttributes(
self.fk0_ctl, ["tx", "ty", "tz", "ro", "rx", "ry", "rz", "sx"])
t = transform.getTransformLookingAt(self.guide.apos[1],
self.guide.apos[2], self.normal,
"xz", self.negate)
self.fk1_npo = primitive.addTransform(self.fk0_ctl,
self.getName("fk1_npo"), t)
po_vec = datatypes.Vector(.5 * self.length1 * self.n_factor, 0, 0)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=po_vec,
tp=self.fk0_ctl)
attribute.setKeyableAttributes(
self.fk1_ctl, ["tx", "ty", "tz", "ro", "rx", "ry", "rz", "sx"])
t = transform.getTransformLookingAt(self.guide.apos[2],
self.guide.apos[3], self.normal,
"xz", self.negate)
self.fk2_npo = primitive.addTransform(self.fk1_ctl,
self.getName("fk2_npo"), t)
po_vec = datatypes.Vector(.5 * self.length2 * self.n_factor, 0, 0)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=po_vec,
tp=self.fk1_ctl)
attribute.setKeyableAttributes(self.fk2_ctl)
self.fk_ctl = [self.fk0_ctl, self.fk1_ctl, self.fk2_ctl]
for x in self.fk_ctl:
attribute.setInvertMirror(x, ["tx", "ty", "tz"])
# IK Controlers -----------------------------------
self.ik_cns = primitive.addTransformFromPos(self.root_ctl,
self.getName("ik_cns"),
self.guide.pos["ankle"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
transform.getTransformFromPos(
self.guide.pos["ankle"]),
self.color_ik,
"null",
w=self.size * .12,
tp=self.root_ctl)
attribute.setInvertMirror(self.ikcns_ctl, ["tx"])
m = transform.getTransformLookingAt(self.guide.pos["ankle"],
self.guide.pos["eff"], self.x_axis,
"zx", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
transform.getTransformFromPos(
self.guide.pos["ankle"]),
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12,
tp=self.ikcns_ctl)
attribute.setKeyableAttributes(self.ik_ctl)
attribute.setRotOrder(self.ik_ctl, "XZY")
attribute.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
self.upv_cns = primitive.addTransformFromPos(self.ik_ctl,
self.getName("upv_cns"),
v)
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
transform.getTransform(self.upv_cns),
self.color_ik,
"diamond",
w=self.size * .12,
tp=self.root_ctl)
if self.settings["mirrorMid"]:
if self.negate:
self.upv_cns.rz.set(180)
self.upv_cns.sy.set(-1)
else:
attribute.setInvertMirror(self.upv_ctl, ["tx"])
attribute.setKeyableAttributes(self.upv_ctl, self.t_params)
# References --------------------------------------
self.ik_ref = primitive.addTransform(
self.ik_ctl, self.getName("ik_ref"),
transform.getTransform(self.ik_ctl))
self.fk_ref = primitive.addTransform(
self.fk_ctl[2], self.getName("fk_ref"),
transform.getTransform(self.ik_ctl))
# Chain --------------------------------------------
# The outputs of the ikfk2bone solver
self.bone0 = primitive.addLocator(
self.root_ctl, self.getName("0_bone"),
transform.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
self.bone0.setAttr("visibility", False)
self.bone1 = primitive.addLocator(
self.root_ctl, self.getName("1_bone"),
transform.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
self.bone1.setAttr("visibility", False)
self.ctrn_loc = primitive.addTransformFromPos(self.root_ctl,
self.getName("ctrn_loc"),
self.guide.apos[1])
self.eff_loc = primitive.addTransformFromPos(self.root_ctl,
self.getName("eff_loc"),
self.guide.apos[2])
# tws_ref
t = transform.getRotationFromAxis(datatypes.Vector(0, -1, 0),
self.normal, "xz", self.negate)
t = transform.setMatrixPosition(t, self.guide.pos["ankle"])
self.tws_ref = primitive.addTransform(self.eff_loc,
self.getName("tws_ref"), t)
# Mid Controler ------------------------------------
t = transform.getTransform(self.ctrn_loc)
self.mid_cns = primitive.addTransform(self.ctrn_loc,
self.getName("mid_cns"), t)
self.mid_ctl = self.addCtl(self.mid_cns,
"mid_ctl",
t,
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.root_ctl)
if self.settings["mirrorMid"]:
if self.negate:
self.mid_cns.rz.set(180)
self.mid_cns.sz.set(-1)
else:
attribute.setInvertMirror(self.mid_ctl, ["tx", "ty", "tz"])
# Twist references ---------------------------------
x = datatypes.Vector(0, -1, 0)
x = x * transform.getTransform(self.eff_loc)
z = datatypes.Vector(self.normal.x, self.normal.y, self.normal.z)
z = z * transform.getTransform(self.eff_loc)
m = transform.getRotationFromAxis(x, z, "xz", self.negate)
m = transform.setMatrixPosition(m,
transform.getTranslation(self.ik_ctl))
self.rollRef = primitive.add2DChain(self.root,
self.getName("rollChain"),
self.guide.apos[:2], self.normal,
self.negate, self.WIP)
self.tws0_loc = primitive.addTransform(
self.rollRef[0], self.getName("tws0_loc"),
transform.getTransform(self.fk_ctl[0]))
self.tws0_rot = primitive.addTransform(
self.tws0_loc, self.getName("tws0_rot"),
transform.getTransform(self.fk_ctl[0]))
self.tws1_loc = primitive.addTransform(
self.ctrn_loc, self.getName("tws1_loc"),
transform.getTransform(self.ctrn_loc))
self.tws1_rot = primitive.addTransform(
self.tws1_loc, self.getName("tws1_rot"),
transform.getTransform(self.ctrn_loc))
self.tws2_loc = primitive.addTransform(
self.root_ctl, self.getName("tws2_loc"),
transform.getTransform(self.tws_ref))
self.tws2_rot = primitive.addTransform(
self.tws2_loc, self.getName("tws2_rot"),
transform.getTransform(self.tws_ref))
self.tws2_rot.setAttr("sx", .001)
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for
# the elbow. + 2 for knee angle control
self.divisions = self.settings["div0"] + self.settings["div1"] + 3 + 2
self.div_cns = []
for i in range(self.divisions):
div_cns = primitive.addTransform(self.root_ctl,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
self.jnt_pos.append([div_cns, i])
# End reference ------------------------------------
# To help the deformation on the ankle
self.end_ref = primitive.addTransform(self.tws2_rot,
self.getName("end_ref"), m)
self.jnt_pos.append([self.end_ref, 'end'])
# match IK FK references
self.match_fk0_off = primitive.addTransform(
self.root, self.getName("matchFk0_npo"),
transform.getTransform(self.fk_ctl[1]))
self.match_fk0 = primitive.addTransform(
self.match_fk0_off, self.getName("fk0_mth"),
transform.getTransform(self.fk_ctl[0]))
self.match_fk1_off = primitive.addTransform(
self.root, self.getName("matchFk1_npo"),
transform.getTransform(self.fk_ctl[2]))
self.match_fk1 = primitive.addTransform(
self.match_fk1_off, self.getName("fk1_mth"),
transform.getTransform(self.fk_ctl[1]))
self.match_fk2 = primitive.addTransform(
self.ik_ctl, self.getName("fk2_mth"),
transform.getTransform(self.fk_ctl[2]))
self.match_ik = primitive.addTransform(
self.fk2_ctl, self.getName("ik_mth"),
transform.getTransform(self.ik_ctl))
self.match_ikUpv = primitive.addTransform(
self.fk0_ctl, self.getName("upv_mth"),
transform.getTransform(self.upv_ctl))
def addObjects(self):
"""Add all the objects needed to create the component."""
self.normal = self.getNormalFromPos(self.guide.apos)
self.binormal = self.getBiNormalFromPos(self.guide.apos)
self.length0 = vector.getDistance(self.guide.apos[0],
self.guide.apos[1])
self.length1 = vector.getDistance(self.guide.apos[1],
self.guide.apos[2])
self.length2 = vector.getDistance(self.guide.apos[2],
self.guide.apos[3])
# FK Controlers -----------------------------------
# *ms* set npo @ Tpose, to make the fk rotation work
# best with rot order"yzx"
self.fk_cns = primitive.addTransformFromPos(self.root,
self.getName("fk_cns"),
self.guide.apos[0])
vec_offset = ((self.guide.apos[1] - self.guide.apos[0]) * [1, 0, 0])
tpv = self.guide.apos[0] + vec_offset
t = transform.getTransformLookingAt(self.guide.apos[0], tpv,
self.normal, "xz", self.negate)
# *ms* add FK isolation
self.fk0_npo = primitive.addTransform(self.fk_cns,
self.getName("fk0_npo"), t)
t = transform.getTransformLookingAt(self.guide.apos[0],
self.guide.apos[1], self.normal,
"xz", self.negate)
po_off = datatypes.Vector(.35 * self.length0 * self.n_factor, 0, 0)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0 * .7,
h=self.size * .1,
d=self.size * .1,
po=po_off,
tp=self.parentCtlTag)
attribute.setKeyableAttributes(self.fk0_ctl)
# *ms* add fk roll control Simage style
po_off = datatypes.Vector(.85 * self.length0 * self.n_factor, 0, 0)
self.fk0_roll_ctl = self.addCtl(self.fk0_ctl,
"fk0_roll_ctl",
t,
self.color_fk,
"cube",
w=self.length0 * .3,
h=self.size * .1,
d=self.size * 0.1,
po=po_off,
tp=self.fk0_ctl)
attribute.setRotOrder(self.fk0_roll_ctl, "YZX")
attribute.setKeyableAttributes(self.fk0_roll_ctl, ["rx"])
self.fk0_mtx = primitive.addTransform(self.root,
self.getName("fk0_mtx"), t)
t = transform.setMatrixPosition(t, self.guide.apos[1])
self.fk1_ref = primitive.addTransform(self.fk0_roll_ctl,
self.getName("fk1_ref"), t)
self.fk1_loc = primitive.addTransform(self.root,
self.getName("fk1_loc"), t)
t = transform.getTransformLookingAt(self.guide.apos[1],
self.guide.apos[2], self.normal,
"xz", self.negate)
self.fk1_npo = primitive.addTransform(self.fk1_loc,
self.getName("fk1_npo"), t)
po_off = datatypes.Vector(.35 * self.length1 * self.n_factor, 0, 0)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1 * .7,
h=self.size * .1,
d=self.size * .1,
po=po_off,
tp=self.fk0_roll_ctl)
attribute.setKeyableAttributes(self.fk1_ctl)
self.fk1_mtx = primitive.addTransform(self.fk1_ctl,
self.getName("fk1_mtx"), t)
po_off = datatypes.Vector(.85 * self.length1 * self.n_factor, 0, 0)
self.fk1_roll_ctl = self.addCtl(self.fk1_ctl,
"fk1_roll_ctl",
t,
self.color_fk,
"cube",
w=self.length1 * .3,
h=self.size * .1,
d=self.size * .1,
po=po_off,
tp=self.fk1_ctl)
attribute.setRotOrder(self.fk1_roll_ctl, "XYZ")
attribute.setKeyableAttributes(self.fk1_roll_ctl, ["rx"])
t = transform.getTransformLookingAt(self.guide.apos[2],
self.guide.apos[3], self.normal,
"xz", self.negate)
# *ms* buffer object to feed into ikfk solver for hand seperation
self.fk2_mtx = primitive.addTransform(self.fk1_roll_ctl,
self.getName("fk2_mtx"), t)
# fk2_loc is need to take the effector position + bone1 rotation
t1 = transform.getTransformLookingAt(self.guide.apos[2],
self.guide.apos[1], self.normal,
"-xz", self.negate)
self.fk2_loc = primitive.addTransform(self.root,
self.getName("fk2_loc"), t1)
self.fk2_npo = primitive.addTransform(self.fk2_loc,
self.getName("fk2_npo"), t)
po_off = datatypes.Vector(.5 * self.length2 * self.n_factor, 0, 0)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=po_off,
tp=self.fk1_roll_ctl)
attribute.setKeyableAttributes(self.fk2_ctl)
self.fk_ctl = [self.fk0_roll_ctl, self.fk1_mtx, self.fk2_ctl]
self.fk_ctls = [
self.fk0_ctl, self.fk0_roll_ctl, self.fk1_ctl, self.fk1_roll_ctl,
self.fk2_ctl
]
for x in self.fk_ctls:
attribute.setInvertMirror(x, ["tx", "ty", "tz"])
# IK Controlers -----------------------------------
self.ik_cns = primitive.addTransformFromPos(self.root,
self.getName("ik_cns"),
self.guide.pos["wrist"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
transform.getTransformFromPos(
self.guide.pos["wrist"]),
self.color_ik,
"null",
w=self.size * .12,
tp=self.parentCtlTag)
attribute.setInvertMirror(self.ikcns_ctl, ["tx", "ty", "tz"])
if self.negate:
m = transform.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal, "x-y", True)
else:
m = transform.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal, "xy", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
m,
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12,
tp=self.ikcns_ctl)
attribute.setKeyableAttributes(self.ik_ctl)
attribute.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
# *ms* auto up vector ------------------------------
self.upv_cns = primitive.addTransformFromPos(self.root,
self.getName("upv_cns"),
self.guide.apos[0])
self.upv_auv = primitive.addTransformFromPos(self.root,
self.getName("upv_auv"),
self.guide.apos[0])
self.upv_mtx = primitive.addTransformFromPos(self.upv_cns,
self.getName("upv_mtx"),
self.guide.apos[0])
self.upv_npo = primitive.addTransformFromPos(self.upv_mtx,
self.getName("upv_npo"),
v)
self.upv_ctl = self.addCtl(self.upv_npo,
"upv_ctl",
transform.getTransform(self.upv_npo),
self.color_ik,
"diamond",
w=self.size * .12,
tp=self.parentCtlTag)
attribute.setKeyableAttributes(self.upv_ctl, self.t_params)
attribute.setInvertMirror(self.upv_ctl, ["tx"])
# References --------------------------------------
# Calculate again the transfor for the IK ref. This way align with FK
trnIK_ref = transform.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal, "xz",
self.negate)
self.ik_ref = primitive.addTransform(self.ik_ctl,
self.getName("ik_ref"), trnIK_ref)
self.fk_ref = primitive.addTransform(self.fk_ctl[2],
self.getName("fk_ref"), trnIK_ref)
# Chain --------------------------------------------
# take outputs of the ikfk2bone solver
self.bone0 = primitive.addLocator(
self.root, self.getName("0_bone"),
transform.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
self.bone0.setAttr("visibility", False)
self.bone1 = primitive.addLocator(
self.root, self.getName("1_bone"),
transform.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
self.bone1.setAttr("visibility", False)
self.ctrn_loc = primitive.addTransformFromPos(self.root,
self.getName("ctrn_loc"),
self.guide.apos[1])
# eff npo --- take the effector output of gear ik solver
self.eff_npo = primitive.addTransformFromPos(self.root,
self.getName("eff_npo"),
self.guide.apos[2])
# eff loc --- take the fk ik blend result
self.eff_loc = primitive.addTransformFromPos(self.eff_npo,
self.getName("eff_loc"),
self.guide.apos[2])
# Mid Controler ------------------------------------
self.mid_ctl = self.addCtl(self.ctrn_loc,
"mid_ctl",
transform.getTransform(self.ctrn_loc),
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.parentCtlTag)
attribute.setInvertMirror(self.mid_ctl, ["tx", "ty", "tz"])
# *ms* add elbow thickness
# Roll join ref
self.tws0_npo = primitive.addTransform(
self.root, self.getName("tws0_npo"),
transform.getTransform(self.fk_ctl[0]))
self.tws0_loc = primitive.addTransform(
self.tws0_npo, self.getName("tws0_loc"),
transform.getTransform(self.fk_ctl[0]))
self.tws0_rot = primitive.addTransform(
self.tws0_loc, self.getName("tws0_rot"),
transform.getTransform(self.fk_ctl[0]))
self.tws1_npo = primitive.addTransform(
self.ctrn_loc, self.getName("tws1_npo"),
transform.getTransform(self.ctrn_loc))
self.tws1_loc = primitive.addTransform(
self.tws1_npo, self.getName("tws1_loc"),
transform.getTransform(self.ctrn_loc))
self.tws1_rot = primitive.addTransform(
self.tws1_loc, self.getName("tws1_rot"),
transform.getTransform(self.ctrn_loc))
self.tws2_loc = primitive.addTransform(
self.tws1_npo, self.getName("tws2_loc"),
transform.getTransform(self.ctrn_loc))
self.tws2_rot = primitive.addTransform(
self.tws2_loc, self.getName("tws2_rot"),
transform.getTransform(self.ctrn_loc))
self.tws3_npo = primitive.addTransform(
self.root, self.getName("tws3_npo"),
transform.getTransform(self.fk_ctl[2]))
self.tws3_loc = primitive.addTransform(
self.tws3_npo, self.getName("tws3_loc"),
transform.getTransform(self.fk_ctl[2]))
self.tws3_rot = primitive.addTransform(
self.tws3_loc, self.getName("tws3_rot"),
transform.getTransform(self.fk_ctl[2]))
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for the
# elbow. + 2 for elbow angle control
# separate up and dn limb
self.divisions = self.settings["div0"] + self.settings["div1"] + 3 + 2
self.divisions0 = self.settings["div0"] + 2
self.divisions1 = self.settings["div1"] + 2
self.div_cns = []
self.div_cnsUp = []
self.div_cnsDn = []
self.div_ctls = []
self.div_org = primitive.addTransform(
self.root, self.getName("div_org"),
transform.getTransform(self.root))
self.previousTag = self.parentCtlTag
for i in range(self.divisions0):
div_cns = primitive.addTransform(self.div_org,
self.getName("div%s_loc" % i))
if self.negate:
div_ctl = self.addCtl(
div_cns,
self.getName("div%s_ctl" % i),
transform.getTransform(div_cns),
self.color_fk,
"square",
d=self.size * .05,
w=self.size * .1,
po=datatypes.Vector(0, self.size * -0.05, 0),
ro=datatypes.Vector(0, 0, datatypes.radians(90)),
tp=self.previousTag)
else:
div_ctl = self.addCtl(
div_cns,
self.getName("div%s_ctl" % i),
transform.getTransform(div_cns),
self.color_fk,
"square",
d=self.size * .05,
w=self.size * .1,
po=datatypes.Vector(0, self.size * 0.05, 0),
ro=datatypes.Vector(0, 0, datatypes.radians(90)),
tp=self.previousTag)
attribute.setKeyableAttributes(div_ctl)
self.previousTag = div_ctl
self.div_cns.append(div_cns)
self.div_cnsUp.append(div_cns)
self.jnt_pos.append([div_ctl, i])
self.div_ctls.append(div_ctl)
# mid division
d = self.divisions0
self.div_mid = primitive.addTransform(
self.div_org, self.getName("div%s_loc" % d),
transform.getTransform(self.mid_ctl))
if self.negate:
self.div_mid_ctl = self.addCtl(
self.div_mid,
self.getName("div%s_ctl" % d),
transform.getTransform(self.div_mid),
self.color_fk,
"square",
d=self.size * .05,
w=self.size * .1,
po=datatypes.Vector(0, self.size * -0.05, 0),
ro=datatypes.Vector(0, 0, datatypes.radians(90)),
tp=self.previousTag)
else:
self.div_mid_ctl = self.addCtl(
self.div_mid,
self.getName("div%s_ctl" % d),
transform.getTransform(self.div_mid),
self.color_fk,
"square",
d=self.size * .05,
w=self.size * .1,
po=datatypes.Vector(0, self.size * 0.05, 0),
ro=datatypes.Vector(0, 0, datatypes.radians(90)),
tp=self.previousTag)
attribute.setKeyableAttributes(self.div_mid_ctl)
self.previousTag = div_ctl
self.div_cns.append(self.div_mid)
self.jnt_pos.append([self.div_mid_ctl, self.divisions0])
self.div_ctls.append(self.div_mid_ctl)
# down division
for i in range(self.divisions1):
dd = i + self.divisions1 + 1
div_cns = primitive.addTransform(self.div_org,
self.getName("div%s_loc" % dd))
if self.negate:
div_ctl = self.addCtl(
div_cns,
self.getName("div%s_ctl" % dd),
transform.getTransform(div_cns),
self.color_fk,
"square",
d=self.size * .05,
w=self.size * .1,
po=datatypes.Vector(0, self.size * -0.05, 0),
ro=datatypes.Vector(0, 0, datatypes.radians(90)),
tp=self.previousTag)
else:
div_ctl = self.addCtl(
div_cns,
self.getName("div%s_ctl" % dd),
transform.getTransform(div_cns),
self.color_fk,
"square",
d=self.size * .05,
w=self.size * .1,
po=datatypes.Vector(0, self.size * 0.05, 0),
ro=datatypes.Vector(0, 0, datatypes.radians(90)),
tp=self.previousTag)
attribute.setKeyableAttributes(div_ctl)
self.previousTag = div_ctl
self.div_cns.append(div_cns)
self.div_cnsDn.append(div_cns)
self.jnt_pos.append([div_ctl, i + self.divisions0 + 1])
self.div_ctls.append(div_ctl)
# End reference ------------------------------------
# To help the deformation on the wrist
self.jnt_pos.append([self.eff_loc, 'end'])
# match IK FK references
self.match_fk0 = primitive.addTransform(
self.root, self.getName("fk0_mth"),
transform.getTransform(self.fk_ctl[0]))
self.match_fk1 = primitive.addTransform(
self.root, self.getName("fk1_mth"),
transform.getTransform(self.fk_ctl[1]))
self.match_fk2 = primitive.addTransform(
self.ik_ctl, self.getName("fk2_mth"),
transform.getTransform(self.fk_ctl[2]))
self.match_ik = primitive.addTransform(
self.fk2_ctl, self.getName("ik_mth"),
transform.getTransform(self.ik_ctl))
self.match_ikUpv = primitive.addTransform(
self.fk0_roll_ctl, self.getName("upv_mth"),
transform.getTransform(self.upv_ctl))
def addObjects(self):
"""Add all the objects needed to create the component."""
# Auto bend with position controls --------------------
if self.settings["autoBend"]:
self.autoBendChain = primitive.add2DChain(
self.root,
self.getName("autoBend%s_jnt"),
[self.guide.apos[0], self.guide.apos[1]],
self.guide.blades["blade"].z * -1,
False,
True)
for j in self.autoBendChain:
j.drawStyle.set(2)
# Ik Controlers ------------------------------------
t = transform.getTransformLookingAt(self.guide.apos[0],
self.guide.apos[1],
self.guide.blades["blade"].z * -1,
"yx",
self.negate)
self.ik0_npo = primitive.addTransform(
self.root, self.getName("ik0_npo"), t)
self.ik0_ctl = self.addCtl(self.ik0_npo,
"ik0_ctl",
t,
self.color_ik,
"compas",
w=self.size,
tp=self.parentCtlTag)
attribute.setKeyableAttributes(self.ik0_ctl, self.tr_params)
attribute.setRotOrder(self.ik0_ctl, "ZXY")
attribute.setInvertMirror(self.ik0_ctl, ["tx", "ry", "rz"])
t = transform.setMatrixPosition(t, self.guide.apos[1])
if self.settings["autoBend"]:
self.autoBend_npo = primitive.addTransform(
self.root, self.getName("spinePosition_npo"), t)
self.autoBend_ctl = self.addCtl(self.autoBend_npo,
"spinePosition_ctl",
t,
self.color_ik,
"square",
w=self.size,
d=.3 * self.size,
tp=self.parentCtlTag)
attribute.setKeyableAttributes(self.autoBend_ctl,
["tx", "ty", "tz", "ry"])
attribute.setInvertMirror(self.autoBend_ctl, ["tx", "ry"])
self.ik1_npo = primitive.addTransform(
self.autoBendChain[0], self.getName("ik1_npo"), t)
self.ik1autoRot_lvl = primitive.addTransform(
self.ik1_npo, self.getName("ik1autoRot_lvl"), t)
self.ik1_ctl = self.addCtl(self.ik1autoRot_lvl,
"ik1_ctl",
t,
self.color_ik,
"compas",
w=self.size,
tp=self.autoBend_ctl)
else:
t = transform.setMatrixPosition(t, self.guide.apos[1])
self.ik1_npo = primitive.addTransform(
self.root, self.getName("ik1_npo"), t)
self.ik1_ctl = self.addCtl(self.ik1_npo,
"ik1_ctl",
t,
self.color_ik,
"compas",
w=self.size,
tp=self.ik0_ctl)
attribute.setKeyableAttributes(self.ik1_ctl, self.tr_params)
attribute.setRotOrder(self.ik1_ctl, "ZXY")
attribute.setInvertMirror(self.ik1_ctl, ["tx", "ry", "rz"])
# Tangent controllers -------------------------------
if self.settings["centralTangent"]:
vec_pos = vector.linearlyInterpolate(self.guide.apos[0],
self.guide.apos[1],
.33)
t = transform.setMatrixPosition(t, vec_pos)
self.tan0_npo = primitive.addTransform(
self.ik0_ctl, self.getName("tan0_npo"), t)
self.tan0_off = primitive.addTransform(
self.tan0_npo, self.getName("tan0_off"), t)
self.tan0_ctl = self.addCtl(self.tan0_off,
"tan0_ctl",
t,
self.color_ik,
"sphere",
w=self.size * .1,
tp=self.ik0_ctl)
attribute.setKeyableAttributes(self.tan0_ctl, self.t_params)
vec_pos = vector.linearlyInterpolate(self.guide.apos[0],
self.guide.apos[1],
.66)
t = transform.setMatrixPosition(t, vec_pos)
self.tan1_npo = primitive.addTransform(
self.ik1_ctl, self.getName("tan1_npo"), t)
self.tan1_off = primitive.addTransform(
self.tan1_npo, self.getName("tan1_off"), t)
self.tan1_ctl = self.addCtl(self.tan1_off,
"tan1_ctl",
t,
self.color_ik,
"sphere",
w=self.size * .1,
tp=self.ik0_ctl)
attribute.setKeyableAttributes(self.tan1_ctl, self.t_params)
# Tangent mid control
vec_pos = vector.linearlyInterpolate(self.guide.apos[0],
self.guide.apos[1],
.5)
t = transform.setMatrixPosition(t, vec_pos)
self.tan_npo = primitive.addTransform(
self.tan0_npo, self.getName("tan_npo"), t)
self.tan_ctl = self.addCtl(self.tan_npo,
"tan_ctl",
t,
self.color_fk,
"sphere",
w=self.size * .2,
tp=self.ik1_ctl)
attribute.setKeyableAttributes(self.tan_ctl, self.t_params)
attribute.setInvertMirror(self.tan_ctl, ["tx"])
else:
vec_pos = vector.linearlyInterpolate(self.guide.apos[0],
self.guide.apos[1],
.33)
t = transform.setMatrixPosition(t, vec_pos)
self.tan0_npo = primitive.addTransform(
self.ik0_ctl, self.getName("tan0_npo"), t)
self.tan0_ctl = self.addCtl(self.tan0_npo,
"tan0_ctl",
t,
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.ik0_ctl)
attribute.setKeyableAttributes(self.tan0_ctl, self.t_params)
vec_pos = vector.linearlyInterpolate(self.guide.apos[0],
self.guide.apos[1],
.66)
t = transform.setMatrixPosition(t, vec_pos)
self.tan1_npo = primitive.addTransform(
self.ik1_ctl, self.getName("tan1_npo"), t)
self.tan1_ctl = self.addCtl(self.tan1_npo,
"tan1_ctl",
t,
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.ik1_ctl)
attribute.setKeyableAttributes(self.tan1_ctl, self.t_params)
attribute.setInvertMirror(self.tan0_ctl, ["tx"])
attribute.setInvertMirror(self.tan1_ctl, ["tx"])
# Curves -------------------------------------------
self.mst_crv = curve.addCnsCurve(
self.root,
self.getName("mst_crv"),
[self.ik0_ctl, self.tan0_ctl, self.tan1_ctl, self.ik1_ctl],
3)
self.slv_crv = curve.addCurve(self.root, self.getName("slv_crv"),
[datatypes.Vector()] * 10,
False,
3)
self.mst_crv.setAttr("visibility", False)
self.slv_crv.setAttr("visibility", False)
# Division -----------------------------------------
# The user only define how many intermediate division he wants.
# First and last divisions are an obligation.
parentdiv = self.root
parentctl = self.root
self.div_cns = []
self.fk_ctl = []
self.fk_npo = []
self.scl_transforms = []
self.twister = []
self.ref_twist = []
t = transform.getTransformLookingAt(
self.guide.apos[0],
self.guide.apos[1],
self.guide.blades["blade"].z * -1,
"yx",
self.negate)
parent_twistRef = primitive.addTransform(
self.root,
self.getName("reference"),
transform.getTransform(self.root))
self.jointList = []
self.preiviousCtlTag = self.parentCtlTag
for i in range(self.settings["division"]):
# References
div_cns = primitive.addTransform(parentdiv,
self.getName("%s_cns" % i))
pm.setAttr(div_cns + ".inheritsTransform", False)
self.div_cns.append(div_cns)
parentdiv = div_cns
# Controlers (First and last one are fake)
# if i in [0]:
# TODO: add option setting to add or not the first and last
# controller for the fk
# if i in [0, self.settings["division"] - 1] and False:
if i in [0, self.settings["division"] - 1]:
fk_ctl = primitive.addTransform(
parentctl,
self.getName("%s_loc" % i),
transform.getTransform(parentctl))
fk_npo = fk_ctl
if i in [self.settings["division"] - 1]:
self.fk_ctl.append(fk_ctl)
else:
fk_npo = primitive.addTransform(
parentctl,
self.getName("fk%s_npo" % (i - 1)),
transform.getTransform(parentctl))
fk_ctl = self.addCtl(fk_npo,
"fk%s_ctl" % (i - 1),
transform.getTransform(parentctl),
self.color_fk,
"cube",
w=self.size,
h=self.size * .05,
d=self.size,
tp=self.preiviousCtlTag)
attribute.setKeyableAttributes(self.fk_ctl)
attribute.setRotOrder(fk_ctl, "ZXY")
self.fk_ctl.append(fk_ctl)
self.preiviousCtlTag = fk_ctl
# setAttr(fk_npo+".inheritsTransform", False)
self.fk_npo.append(fk_npo)
parentctl = fk_ctl
scl_ref = primitive.addTransform(parentctl,
self.getName("%s_scl_ref" % i),
transform.getTransform(parentctl))
self.scl_transforms.append(scl_ref)
# Deformers (Shadow)
self.jnt_pos.append([scl_ref, i])
# Twist references (This objects will replace the spinlookup slerp
# solver behavior)
t = transform.getTransformLookingAt(
self.guide.apos[0],
self.guide.apos[1],
self.guide.blades["blade"].z * -1,
"yx",
self.negate)
twister = primitive.addTransform(
parent_twistRef, self.getName("%s_rot_ref" % i), t)
ref_twist = primitive.addTransform(
parent_twistRef, self.getName("%s_pos_ref" % i), t)
ref_twist.setTranslation(
datatypes.Vector(1.0, 0, 0), space="preTransform")
self.twister.append(twister)
self.ref_twist.append(ref_twist)
# TODO: update this part with the optiona FK controls update
for x in self.fk_ctl[:-1]:
attribute.setInvertMirror(x, ["tx", "rz", "ry"])
# Connections (Hooks) ------------------------------
self.cnx0 = primitive.addTransform(self.root, self.getName("0_cnx"))
self.cnx1 = primitive.addTransform(self.root, self.getName("1_cnx"))
def addObjects(self):
"""
"""
self.WIP = self.options["mode"]
self.normal = self.getNormalFromPos(self.guide.apos)
self.binormal = self.getBiNormalFromPos(self.guide.apos)
self.length0 = vec.getDistance(self.guide.apos[0], self.guide.apos[1])
self.length1 = vec.getDistance(self.guide.apos[1], self.guide.apos[2])
self.length2 = vec.getDistance(self.guide.apos[2], self.guide.apos[3])
# 1 bone chain for upv ref
self.armChainUpvRef = pri.add2DChain(
self.root, self.getName("armUpvRef%s_jnt"),
[self.guide.apos[0], self.guide.apos[2]], self.normal, False,
self.WIP)
self.armChainUpvRef[1].setAttr(
"jointOrientZ",
self.armChainUpvRef[1].getAttr("jointOrientZ") * -1)
# FK Controlers -----------------------------------
t = tra.getTransformLookingAt(self.guide.apos[0], self.guide.apos[1],
self.normal, "xz", self.negate)
self.fk0_npo = pri.addTransform(self.root, self.getName("fk0_npo"), t)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length0 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk0_ctl)
t = tra.getTransformLookingAt(self.guide.apos[1], self.guide.apos[2],
self.normal, "xz", self.negate)
self.fk1_npo = pri.addTransform(self.fk0_ctl, self.getName("fk1_npo"),
t)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length1 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk1_ctl)
t = tra.getTransformLookingAt(self.guide.apos[2], self.guide.apos[3],
self.normal, "xz", self.negate)
self.fk2_npo = pri.addTransform(self.fk1_ctl, self.getName("fk2_npo"),
t)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length2 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk2_ctl)
self.fk_ctl = [self.fk0_ctl, self.fk1_ctl, self.fk2_ctl]
for x in self.fk_ctl:
att.setInvertMirror(x, ["tx", "ty", "tz"])
# IK Controlers -----------------------------------
self.ik_cns = pri.addTransformFromPos(self.root,
self.getName("ik_cns"),
self.guide.pos["wrist"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
tra.getTransformFromPos(
self.guide.pos["wrist"]),
self.color_ik,
"null",
w=self.size * .12)
att.setInvertMirror(self.ikcns_ctl, ["tx", "ty", "tz"])
if self.negate:
m = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"], self.normal,
"x-y", True)
else:
m = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"], self.normal,
"xy", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
m,
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12)
att.setKeyableAttributes(self.ik_ctl)
att.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
self.upv_cns = pri.addTransformFromPos(self.root,
self.getName("upv_cns"), v)
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
tra.getTransform(self.upv_cns),
self.color_ik,
"diamond",
w=self.size * .12)
att.setKeyableAttributes(self.upv_ctl, self.t_params)
att.setInvertMirror(self.upv_ctl, ["tx"])
#IK rotation controls
if self.settings["ikTR"]:
self.ikRot_npo = pri.addTransform(self.root,
self.getName("ikRot_npo"), m)
self.ikRot_cns = pri.addTransform(self.ikRot_npo,
self.getName("ikRot_cns"), m)
self.ikRot_ctl = self.addCtl(self.ikRot_cns,
"ikRot_ctl",
m,
self.color_ik,
"sphere",
w=self.size * .12)
att.setKeyableAttributes(self.ikRot_ctl, ["rx", "ry", "rz"])
# References --------------------------------------
# Calculate again the transfor for the IK ref. This way align with FK
trnIK_ref = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal, "xz", self.negate)
self.ik_ref = pri.addTransform(self.ik_ctl, self.getName("ik_ref"),
trnIK_ref)
self.fk_ref = pri.addTransform(self.fk_ctl[2], self.getName("fk_ref"),
trnIK_ref)
# Chain --------------------------------------------
# The outputs of the ikfk2bone solver
self.bone0 = pri.addLocator(self.root, self.getName("0_bone"),
tra.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
self.bone0.setAttr("visibility", False)
self.bone1 = pri.addLocator(self.root, self.getName("1_bone"),
tra.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
self.bone1.setAttr("visibility", False)
self.ctrn_loc = pri.addTransformFromPos(self.root,
self.getName("ctrn_loc"),
self.guide.apos[1])
self.eff_loc = pri.addTransformFromPos(self.root,
self.getName("eff_loc"),
self.guide.apos[2])
# Mid Controler ------------------------------------
self.mid_ctl = self.addCtl(self.ctrn_loc,
"mid_ctl",
tra.getTransform(self.ctrn_loc),
self.color_ik,
"sphere",
w=self.size * .2)
att.setInvertMirror(self.mid_ctl, ["tx", "ty", "tz"])
#Roll join ref
self.rollRef = pri.add2DChain(self.root, self.getName("rollChain"),
self.guide.apos[:2], self.normal,
self.negate)
for x in self.rollRef:
x.setAttr("visibility", False)
self.tws0_loc = pri.addTransform(self.rollRef[0],
self.getName("tws0_loc"),
tra.getTransform(self.fk_ctl[0]))
self.tws0_rot = pri.addTransform(self.tws0_loc,
self.getName("tws0_rot"),
tra.getTransform(self.fk_ctl[0]))
self.tws1_npo = pri.addTransform(self.ctrn_loc,
self.getName("tws1_npo"),
tra.getTransform(self.ctrn_loc))
self.tws1_loc = pri.addTransform(self.tws1_npo,
self.getName("tws1_loc"),
tra.getTransform(self.ctrn_loc))
self.tws1_rot = pri.addTransform(self.tws1_loc,
self.getName("tws1_rot"),
tra.getTransform(self.ctrn_loc))
self.tws2_npo = pri.addTransform(self.root, self.getName("tws2_npo"),
tra.getTransform(self.fk_ctl[2]))
self.tws2_loc = pri.addTransform(self.tws2_npo,
self.getName("tws2_loc"),
tra.getTransform(self.fk_ctl[2]))
self.tws2_rot = pri.addTransform(self.tws2_loc,
self.getName("tws2_rot"),
tra.getTransform(self.fk_ctl[2]))
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for the elbow. + 2 for elbow angle control
self.divisions = self.settings["div0"] + self.settings["div1"] + 3 + 2
self.div_cns = []
for i in range(self.divisions):
div_cns = pri.addTransform(self.root,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
self.jnt_pos.append([div_cns, i])
# End reference ------------------------------------
# To help the deformation on the wrist
self.jnt_pos.append([self.eff_loc, 'end'])
#match IK FK references
self.match_fk0_off = pri.addTransform(self.root,
self.getName("matchFk0_npo"),
tra.getTransform(self.fk_ctl[1]))
# self.match_fk0_off.attr("tx").set(1.0)
self.match_fk0 = pri.addTransform(self.match_fk0_off,
self.getName("fk0_mth"),
tra.getTransform(self.fk_ctl[0]))
self.match_fk1_off = pri.addTransform(self.root,
self.getName("matchFk1_npo"),
tra.getTransform(self.fk_ctl[2]))
# self.match_fk1_off.attr("tx").set(1.0)
self.match_fk1 = pri.addTransform(self.match_fk1_off,
self.getName("fk1_mth"),
tra.getTransform(self.fk_ctl[1]))
self.match_fk2 = pri.addTransform(self.ik_ctl, self.getName("fk2_mth"),
tra.getTransform(self.fk_ctl[2]))
self.match_ik = pri.addTransform(self.fk2_ctl, self.getName("ik_mth"),
tra.getTransform(self.ik_ctl))
self.match_ikUpv = pri.addTransform(self.fk0_ctl,
self.getName("upv_mth"),
tra.getTransform(self.upv_ctl))
