def test(self):
_sphere1 = hom.CMDS.polySphere()
_sphere2 = hom.CMDS.polySphere()
_sphere3 = hom.CMDS.polySphere()
# Test apply euler rotation to sphere
_rot = hom.HEulerRotation(0, 0, math.pi)
_rot.apply_to(_sphere1)
assert cmds.getAttr(_sphere1.rotate) == [(0, 0, 180)]
# Test apply euler rot as mtx to sphere
hom.HMatrix().apply_to(_sphere1)
_rot = hom.HEulerRotation(0, math.pi, 0)
_mtx = _rot.as_mtx()
cmds.xform(_sphere1, matrix=_mtx)
assert cmds.getAttr(_sphere1.rotate) == [(0, 180, 0)]
hom.HMatrix().apply_to(_sphere1)
_mtx.apply_to(_sphere2)
assert cmds.getAttr(_sphere2.rotate) == [(0, 180, 0)]
# Test apply vector + rot as mtxs to sphere
hom.HMatrix().apply_to(_sphere1)
_mtx1 = hom.HVector(5, 10, 20).as_mtx()
_mtx2 = hom.HEulerRotation(0, math.pi, 0).as_mtx()
(_mtx2 * _mtx1).apply_to(_sphere1)
print cmds.getAttr(_sphere1.rotate)
assert cmds.getAttr(_sphere1.rotate) == [(0, 180, 0)]
assert cmds.getAttr(_sphere1.translate) == [(5, 10, 20)]
(_mtx1 * _mtx2).apply_to(_sphere1)
assert cmds.getAttr(_sphere1.rotate) == [(0, 180, 0)]
assert cmds.getAttr(_sphere1.translate) == [(-4.999999999999997, 10.0,
-20.0)]
(_mtx1 * _mtx1).apply_to(_sphere1)
assert cmds.getAttr(_sphere1.rotate) == [(0, 0, 0)]
assert cmds.getAttr(_sphere1.translate) == [(10, 20, 40)]
# Offset matrix cookbook
_mtx_b = _rand_m()
_mtx_a = _rand_m()
_offs_a_to_b = _mtx_a.inverse() * _mtx_b
assert _mtx_a * _offs_a_to_b == _mtx_b
_mtx_b.apply_to(_sphere1)
_mtx_a.apply_to(_sphere2)
(_mtx_a * _offs_a_to_b).apply_to(_sphere3)
assert hom.get_m(_sphere3) == _mtx_b
# Test load/save preset
_sphere2.tx.set_val(10)
_tmp_preset = '{}/tmp.preset'.format(tempfile.gettempdir())
assert (_sphere1.get_p() - _sphere2.get_p()).length()
_sphere1.save_preset(_tmp_preset)
print _tmp_preset
_sphere2.load_preset(_tmp_preset)
print(_sphere1.get_p() - _sphere2.get_p()).length()
assert not round((_sphere1.get_p() - _sphere2.get_p()).length(), 5)
def as_euler(self):
"""Get this matrix as euler rotations.
Returns:
(HEulerRotation): euler rotations
"""
from maya_psyhive import open_maya as hom
return hom.HEulerRotation(om.MTransformationMatrix(self).rotation())
def rot(self):
"""Get rotation.
Returns:
(HEulerRotation): rotation component
"""
from maya_psyhive import open_maya as hom
_tm = om.MTransformationMatrix(self)
return hom.HEulerRotation(_tm.rotation())
def apply_fk_to_ik(self, pole_vect_depth=10.0, apply_=True,
build_tmp_geo=False, verbose=1):
"""Apply fk to ik.
First the pole vector is calculated by extending a line from the
elbow joint in the direction of the cross product of the limb
vector (fk_ctrls[0] to fk3) and the limb bend.
The ik joint is then moved to the position of the fk3 control.
The arm/knee offset is reset on apply.
Args:
pole_vect_depth (float): distance of pole vector from fk_ctrls[1]
apply_ (bool): apply the update to gimbal ctrl
build_tmp_geo (bool): build tmp geo
verbose (int): print process data
"""
lprint('APPLYING FK -> IK', verbose=verbose)
# Reset offset
for _offs in self.ik_offs:
cmds.setAttr(_offs, 0)
# Calculate pole pos
_limb_v = hom.get_p(self.fk_ctrls[2]) - hom.get_p(self.fk_ctrls[0])
if self.limb is Limb.ARM:
_limb_bend = -hom.get_m(self.fk_ctrls[1]).ly_().normalized()
elif self.limb == Limb.LEG:
_limb_bend = hom.get_m(self.fk_ctrls[1]).lx_().normalized()
else:
raise ValueError(self.limb)
_pole_dir = (_limb_v ^ _limb_bend).normalized()
_pole_p = hom.get_p(self.fk_ctrls[1]) + _pole_dir*pole_vect_depth
_pole_p.apply_to(self.ik_pole, use_constraint=True)
# Read fk3 mtx
_ik_mtx = hom.get_m(self.fk_ctrls[2])
_side_offs = hom.HMatrix()
if self.side == Side.RIGHT:
_side_offs = hom.HEulerRotation(math.pi, 0, 0).as_mtx()
_ik_mtx = _side_offs * _ik_mtx
_ik_mtx.apply_to(self.ik_)
# Apply vals to ik ctrls
if apply_:
self.set_to_ik()
lprint('SET', self.ik_, 'TO IK', verbose=verbose)
if build_tmp_geo:
_limb_v.build_crv(hom.get_p(self.fk_ctrls[0]), name='limb_v')
_limb_bend.build_crv(hom.get_p(self.fk_ctrls[1]), name='limb_bend')
_pole_dir.build_crv(hom.get_p(self.fk_ctrls[1]), name='pole_dir')
_pole_p.build_loc(name='pole')
_ik_mtx.build_geo(name='fk3')
hom.get_m(self.ik_).build_geo(name='ik')
def apply_fk_to_ik(self,
pole_vect_depth=30.0,
apply_=True,
build_tmp_geo=False,
verbose=0):
"""Apply fk to ik.
First the pole vector is calculated by extending a line from the
elbow joint in the direction of the cross product of the limb
vector (fk_ctrls[0] to fk3) and the limb bend.
The ik joint is then moved to the position of the fk3 control.
The arm/knee offset is reset on apply.
Args:
pole_vect_depth (float): distance of pole vector from fk_ctrls[1]
apply_ (bool): apply the update to gimbal ctrl
build_tmp_geo (bool): build tmp geo
verbose (int): print process data
"""
lprint('APPLYING FK -> IK', verbose=verbose)
# Reset offset
for _offs in self.ik_offs:
cmds.setAttr(_offs, 0)
# Calculate pole pos
_limb_v = hom.get_p(self.fk_ctrls[2]) - hom.get_p(self.fk_ctrls[0])
if self.limb is Limb.ARM:
_limb_bend = -hom.get_m(self.fk_ctrls[1]).lz_().normalized()
elif self.limb is Limb.LEG:
_limb_bend = hom.get_m(self.fk_ctrls[1]).lz_().normalized()
else:
raise ValueError(self.limb)
_pole_dir = -(_limb_v ^ _limb_bend).normalized()
_pole_p = hom.get_p(self.fk_ctrls[1]) + _pole_dir * pole_vect_depth
lprint(' - APPLYING POLE', self.ik_pole, verbose=verbose)
# Read fk3 mtx
_ik_mtx = hom.get_m(self.fk_ctrls[2])
_diff = None
if self.side is Side.LEFT and self.limb is Limb.ARM:
_offs = hom.HEulerRotation(math.pi / 2, math.pi, 0)
elif self.side is Side.LEFT and self.limb is Limb.LEG:
_offs = hom.HEulerRotation(0, math.pi / 2, -math.pi / 2)
elif self.side is Side.RIGHT and self.limb is Limb.ARM:
_offs = hom.HEulerRotation(-math.pi / 2, math.pi, 0)
elif self.side is Side.RIGHT and self.limb is Limb.LEG:
_offs = hom.HEulerRotation(0, math.pi / 2, math.pi / 2)
else:
raise ValueError(self.side, self.limb)
_ik_mtx = _offs.as_mtx() * _ik_mtx
# Apply vals to ik ctrls
if apply_:
_ik_mtx.apply_to(self.ik_)
if _diff:
print 'APPLY DIFF', _diff
_diff.apply_to(self.ik_, relative=True)
_pole_p.apply_to(self.ik_pole, use_constraint=True)
self.set_to_ik()
lprint('SET', self.ik_, 'TO IK', verbose=verbose)
if build_tmp_geo:
set_namespace(":tmp", clean=True)
_limb_v.build_crv(hom.get_p(self.fk_ctrls[0]), name='limb_v')
_limb_bend.build_crv(hom.get_p(self.fk_ctrls[1]), name='limb_bend')
_pole_dir.build_crv(hom.get_p(self.fk_ctrls[1]), name='pole_dir')
_pole_p.build_loc(name='pole')
_ik_mtx.build_geo(name='trg_ik')
hom.get_m(self.ik_).build_geo(name='cur_ik')
set_namespace(":")