def drawVector(vector, name="vector", parent=xsi.ActiveSceneRoot):
points = [0,0,0,1,vector.X, vector.Y, vector.Z, 1]
curve = xsi.ActiveSceneRoot.AddNurbsCurve(points, None, False, 1, c.siNonUniformParameterization, c.siSINurbs, name)
log.logVector(vector, "draw "+curve.Name+" : ")
t = XSIMath.CreateTransform()
t.SetTranslation(parent.Kinematics.Global.Transform.Translation)
curve.Kinematics.Global.Transform = t
return curve
def drawVector(vector, name="vector", parent=xsi.ActiveSceneRoot):
points = [0, 0, 0, 1, vector.X, vector.Y, vector.Z, 1]
curve = xsi.ActiveSceneRoot.AddNurbsCurve(points, None, False, 1,
c.siNonUniformParameterization,
c.siSINurbs, name)
log.logVector(vector, "draw " + curve.Name + " : ")
t = XSIMath.CreateTransform()
t.SetTranslation(parent.Kinematics.Global.Transform.Translation)
curve.Kinematics.Global.Transform = t
return curve
def addObjects(self):
self.normal = self.getNormalFromPos(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_ctl = self.addCtl(self.root,
"fk0_ctl",
t,
self.color_fk,
"cube",
h=self.size * .1,
w=1,
d=self.size * .1,
po=XSIMath.CreateVector3(
.5 * self.n_factor, 0, 0))
self.fk0_ctl.Parameters("SclX").Value = self.length0
xsi.SetNeutralPose(self.fk0_ctl)
par.setKeyableParameters(self.fk0_ctl)
par.addLocalParamToCollection(self.inv_params, self.fk0_ctl,
["posx", "posy", "posz"])
t = tra.getTransformLookingAt(self.guide.apos[1], self.guide.apos[2],
self.normal, "xz", self.negate)
self.fk1_ctl = self.addCtl(self.fk0_ctl,
"fk1_ctl",
t,
self.color_fk,
"cube",
h=self.size * .1,
w=1,
d=self.size * .1,
po=XSIMath.CreateVector3(
.5 * self.n_factor, 0, 0))
self.fk1_ctl.Parameters("SclX").Value = self.length1 / self.length0
xsi.SetNeutralPose(self.fk1_ctl, c.siST)
par.setKeyableParameters(self.fk1_ctl)
par.addLocalParamToCollection(self.inv_params, self.fk1_ctl,
["posx", "posy", "posz"])
t = tra.getTransformLookingAt(self.guide.apos[2], self.guide.apos[3],
self.normal, "xz", self.negate)
self.fk2_ctl = self.addCtl(self.fk1_ctl,
"fk2_ctl",
t,
self.color_fk,
"cube",
h=self.size * .1,
w=self.length2,
d=self.size * .1,
po=XSIMath.CreateVector3(
self.length2 * .5 * self.n_factor, 0,
0))
xsi.SetNeutralPose(self.fk2_ctl, c.siST)
par.setKeyableParameters(self.fk2_ctl)
par.addLocalParamToCollection(self.inv_params, self.fk2_ctl,
["posx", "posy", "posz"])
# IK Controlers ------------------------------------
self.ik_cns = pri.addNullFromPos(self.root, self.getName("ik_cns"),
self.guide.apos[2], self.size * .02)
self.addToGroup(self.ik_cns, "hidden")
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
self.ik_cns.Kinematics.Global.Transform,
self.color_ik,
"null",
h=self.size * .2)
par.setKeyableParameters(self.ikcns_ctl)
par.addLocalParamToCollection(self.inv_params, self.ikcns_ctl,
["posx", "rotx", "rotz"])
t = tra.getTransformLookingAt(self.guide.apos[2], self.guide.apos[3],
self.x_axis, "zx", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
t,
self.color_ik,
"cube",
h=self.size * .12,
w=self.length2,
d=self.size * .12,
po=XSIMath.CreateVector3(
0, 0, self.length2 * .5))
self.addToCtlGroup(self.ik_ctl)
par.setKeyableParameters(self.ik_ctl)
par.addLocalParamToCollection(self.inv_params, self.ik_ctl, ["posx"])
# IK and FK references
self.ik_ref = pri.addNull(self.ik_ctl, self.getName("ik_ref"),
self.ik_ctl.Kinematics.Global.Transform,
self.size * .1)
self.addToGroup(self.ik_ref, "hidden")
self.fk_ref = pri.addNull(self.fk2_ctl, self.getName("fk_ref"),
self.ik_ref.Kinematics.Global.Transform,
self.size * .1)
self.addToGroup(self.fk_ref, "hidden")
v = XSIMath.CreateVector3()
v.Sub(self.guide.apos[2], self.guide.apos[0])
v.Cross(self.normal, v)
v.NormalizeInPlace()
v.ScaleInPlace(self.size * .5)
v.AddInPlace(self.guide.apos[1])
self.upv_cns = pri.addNullFromPos(self.root, self.getName("upv_cns"),
v, self.size * .02)
self.addToGroup(self.upv_cns, "hidden")
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
self.upv_cns.Kinematics.Global.Transform,
self.color_ik,
"leash",
h=self.size * .05,
ap=self.guide.apos[1])
par.setKeyableParameters(self.upv_ctl, self.t_params)
par.addLocalParamToCollection(self.inv_params, self.upv_ctl, ["posx"])
# Chain --------------------------------------------
self.bone0 = pri.addNull(self.root, self.getName("0_jnt"),
self.fk0_ctl.Kinematics.Global.Transform)
pri.setNullDisplay(self.bone0, 0, 1, 4, self.n_factor * .5, 0, 0, 1,
self.size * .01, self.size * .01)
self.bone0.Kinematics.Global.Parameters("sclx").Value = self.length0
self.bone1 = pri.addNull(self.bone0, self.getName("1_jnt"),
self.fk1_ctl.Kinematics.Global.Transform)
pri.setNullDisplay(self.bone1, 0, 1, 4, self.n_factor * .5, 0, 0, 1,
self.size * .01, self.size * .01)
self.bone1.Kinematics.Global.Parameters("sclx").Value = self.length1
self.ctrn_loc = pri.addNullFromPos(self.bone0,
self.getName("ctrn_loc"),
self.guide.apos[1], self.size * .05)
self.eff_loc = pri.addNullFromPos(self.root, self.getName("eff_loc"),
self.guide.apos[2], self.size * .05)
x = XSIMath.CreateVector3(0, -1, 0)
x.MulByRotationInPlace(
self.eff_loc.Kinematics.Global.Transform.Rotation)
import gear.xsi.log as log
xsi.LogMessage("HEEEEYYYYYY")
log.logVector(self.normal)
z = XSIMath.CreateVector3(self.normal.X, self.normal.Y, self.normal.Z)
z.MulByRotationInPlace(
self.eff_loc.Kinematics.Global.Transform.Rotation)
xsi.LogMessage("POUET")
xsi.LogMessage("POUET2")
r = tra.getRotationFromAxis(x, z, "xz", self.negate)
t = self.ik_ctl.Kinematics.Global.Transform
t.SetRotation(r)
self.tws_ref = pri.addNull(self.eff_loc, self.getName("tws_ref"), t,
self.size * .1)
self.addToGroup([
self.bone0, self.bone1, self.ctrn_loc, self.eff_loc, self.tws_ref
], "hidden")
# Mid Controler ------------------------------------
self.mid_ctl = self.addCtl(self.ctrn_loc,
"mid_ctl",
self.ctrn_loc.Kinematics.Global.Transform,
self.color_ik,
"sphere",
h=self.size * .2)
par.addLocalParamToCollection(self.inv_params, self.mid_ctl,
["posx", "posy", "posz"])
# Twist references ---------------------------------
t = tra.getFilteredTransform(self.fk0_ctl.Kinematics.Global.Transform,
True, True, False)
self.tws0_loc = pri.addNull(self.root, self.getName("tws0_loc"), t,
self.size * .05)
self.tws0_rot = pri.addNull(self.tws0_loc, self.getName("tws0_rot"), t)
pri.setNullDisplay(self.tws0_rot, 0, self.size * .05, 2, 0, 0, 0,
self.size * .01)
self.tws1_loc = pri.addNull(self.ctrn_loc, self.getName("tws1_loc"),
self.ctrn_loc.Kinematics.Global.Transform,
self.size * .05)
self.tws1_rot = pri.addNull(self.tws1_loc, self.getName("tws1_rot"),
self.ctrn_loc.Kinematics.Global.Transform)
pri.setNullDisplay(self.tws1_rot, 0, self.size * .05, 2, 0, 0, 0,
self.size * .01)
t = tra.getFilteredTransform(self.bone1.Kinematics.Global.Transform,
True, True, False)
t.SetTranslation(self.guide.apos[2])
self.tws2_loc = pri.addNull(self.bone1, self.getName("tws2_loc"), t,
self.size * .05)
self.tws2_rot = pri.addNull(self.tws2_loc, self.getName("tws2_rot"), t)
self.tws2_rot.Kinematics.Global.Parameters("SclX").Value = .001
pri.setNullDisplay(self.tws2_rot, 0, self.size * .05, 2, 0, 0, 0,
self.size * .01)
self.addToGroup([
self.tws0_loc, self.tws0_rot, self.tws1_loc, self.tws1_rot,
self.tws2_loc, self.tws2_rot
], "hidden")
# End reference ------------------------------------
t = tra.getFilteredTransform(self.tws2_rot.Kinematics.Global.Transform,
True, True, False)
self.end_ref = pri.addNull(self.tws2_rot, self.getName("end_ref"), t,
self.size * .2)
self.addToGroup(self.end_ref, "hidden")
self.addShadow(self.end_ref, "end")
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for the elbow.
self.divisions = self.settings["div0"] + self.settings["div1"] + 3
self.div_cns = []
for i in range(self.divisions):
div_cns = pri.addNull(self.tws0_loc, self.getName("div%s_loc" % i),
XSIMath.CreateTransform())
pri.setNullDisplay(div_cns, 1, self.size * .02, 10, 0, 0, 0, 1, 1,
2)
self.addToGroup(div_cns, "hidden")
self.div_cns.append(div_cns)
self.addShadow(div_cns, i)
def addObjects(self):
self.normal = self.getNormalFromPos(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_ctl = self.addCtl(self.root, "fk0_ctl", t, self.color_fk, "cube", h=self.size*.1, w=1, d=self.size*.1, po=XSIMath.CreateVector3(.5*self.n_factor,0,0))
self.fk0_ctl.Parameters("SclX").Value = self.length0
xsi.SetNeutralPose(self.fk0_ctl)
par.setKeyableParameters(self.fk0_ctl)
par.addLocalParamToCollection(self.inv_params, self.fk0_ctl, ["posx", "posy", "posz"])
t = tra.getTransformLookingAt(self.guide.apos[1], self.guide.apos[2], self.normal, "xz", self.negate)
self.fk1_ctl = self.addCtl(self.fk0_ctl, "fk1_ctl", t, self.color_fk, "cube", h=self.size*.1, w=1, d=self.size*.1, po=XSIMath.CreateVector3(.5*self.n_factor,0,0))
self.fk1_ctl.Parameters("SclX").Value = self.length1/self.length0
xsi.SetNeutralPose(self.fk1_ctl, c.siST)
par.setKeyableParameters(self.fk1_ctl)
par.addLocalParamToCollection(self.inv_params, self.fk1_ctl, ["posx", "posy", "posz"])
t = tra.getTransformLookingAt(self.guide.apos[2], self.guide.apos[3], self.normal, "xz", self.negate)
self.fk2_ctl = self.addCtl(self.fk1_ctl, "fk2_ctl", t, self.color_fk, "cube", h=self.size*.1, w=self.length2, d=self.size*.1, po=XSIMath.CreateVector3(self.length2*.5*self.n_factor,0,0))
xsi.SetNeutralPose(self.fk2_ctl, c.siST)
par.setKeyableParameters(self.fk2_ctl)
par.addLocalParamToCollection(self.inv_params, self.fk2_ctl, ["posx", "posy", "posz"])
# IK Controlers ------------------------------------
self.ik_cns = pri.addNullFromPos(self.root, self.getName("ik_cns"), self.guide.apos[2], self.size * .02)
self.addToGroup(self.ik_cns, "hidden")
self.ikcns_ctl = self.addCtl(self.ik_cns, "ikcns_ctl", self.ik_cns.Kinematics.Global.Transform, self.color_ik, "null", h=self.size*.2)
par.setKeyableParameters(self.ikcns_ctl)
par.addLocalParamToCollection(self.inv_params, self.ikcns_ctl, ["posx", "rotx", "rotz"])
t = tra.getTransformLookingAt(self.guide.apos[2], self.guide.apos[3], self.x_axis, "zx", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl, "ik_ctl", t, self.color_ik, "cube", h=self.size*.12, w=self.length2, d=self.size*.12, po=XSIMath.CreateVector3(0,0,self.length2*.5))
self.addToCtlGroup(self.ik_ctl)
par.setKeyableParameters(self.ik_ctl)
par.addLocalParamToCollection(self.inv_params, self.ik_ctl, ["posx"])
# IK and FK references
self.ik_ref = pri.addNull(self.ik_ctl, self.getName("ik_ref"), self.ik_ctl.Kinematics.Global.Transform, self.size * .1)
self.addToGroup(self.ik_ref, "hidden")
self.fk_ref = pri.addNull(self.fk2_ctl, self.getName("fk_ref"), self.ik_ref.Kinematics.Global.Transform, self.size * .1)
self.addToGroup(self.fk_ref, "hidden")
v = XSIMath.CreateVector3()
v.Sub(self.guide.apos[2], self.guide.apos[0])
v.Cross(self.normal, v)
v.NormalizeInPlace()
v.ScaleInPlace(self.size*.5)
v.AddInPlace(self.guide.apos[1])
self.upv_cns = pri.addNullFromPos(self.root, self.getName("upv_cns"), v, self.size * .02)
self.addToGroup(self.upv_cns, "hidden")
self.upv_ctl = self.addCtl(self.upv_cns, "upv_ctl", self.upv_cns.Kinematics.Global.Transform, self.color_ik, "leash", h=self.size*.05, ap=self.guide.apos[1])
par.setKeyableParameters(self.upv_ctl, self.t_params)
par.addLocalParamToCollection(self.inv_params, self.upv_ctl, ["posx"])
# Chain --------------------------------------------
self.bone0 = pri.addNull(self.root, self.getName("0_jnt"), self.fk0_ctl.Kinematics.Global.Transform)
pri.setNullDisplay(self.bone0, 0, 1, 4, self.n_factor * .5, 0, 0, 1, self.size * .01, self.size * .01)
self.bone0.Kinematics.Global.Parameters("sclx").Value = self.length0
self.bone1 = pri.addNull(self.bone0, self.getName("1_jnt"), self.fk1_ctl.Kinematics.Global.Transform)
pri.setNullDisplay(self.bone1, 0, 1, 4, self.n_factor * .5, 0, 0, 1, self.size * .01, self.size * .01)
self.bone1.Kinematics.Global.Parameters("sclx").Value = self.length1
self.ctrn_loc = pri.addNullFromPos(self.bone0, self.getName("ctrn_loc"), self.guide.apos[1], self.size * .05)
self.eff_loc = pri.addNullFromPos(self.root, self.getName("eff_loc"), self.guide.apos[2], self.size * .05)
x = XSIMath.CreateVector3(0,-1,0)
x.MulByRotationInPlace(self.eff_loc.Kinematics.Global.Transform.Rotation)
import gear.xsi.log as log
xsi.LogMessage("HEEEEYYYYYY")
log.logVector(self.normal)
z = XSIMath.CreateVector3(self.normal.X,self.normal.Y,self.normal.Z)
z.MulByRotationInPlace(self.eff_loc.Kinematics.Global.Transform.Rotation)
xsi.LogMessage("POUET")
xsi.LogMessage("POUET2")
r = tra.getRotationFromAxis(x, z, "xz", self.negate)
t = self.ik_ctl.Kinematics.Global.Transform
t.SetRotation(r)
self.tws_ref = pri.addNull(self.eff_loc, self.getName("tws_ref"), t, self.size * .1)
self.addToGroup([self.bone0, self.bone1, self.ctrn_loc, self.eff_loc, self.tws_ref], "hidden")
# Mid Controler ------------------------------------
self.mid_ctl = self.addCtl(self.ctrn_loc, "mid_ctl", self.ctrn_loc.Kinematics.Global.Transform, self.color_ik, "sphere", h=self.size*.2)
par.addLocalParamToCollection(self.inv_params, self.mid_ctl, ["posx", "posy", "posz"])
# Twist references ---------------------------------
t = tra.getFilteredTransform(self.fk0_ctl.Kinematics.Global.Transform, True, True, False)
self.tws0_loc = pri.addNull(self.root, self.getName("tws0_loc"), t, self.size * .05)
self.tws0_rot = pri.addNull(self.tws0_loc, self.getName("tws0_rot"), t)
pri.setNullDisplay(self.tws0_rot, 0, self.size * .05, 2, 0, 0, 0, self.size * .01)
self.tws1_loc = pri.addNull(self.ctrn_loc, self.getName("tws1_loc"), self.ctrn_loc.Kinematics.Global.Transform, self.size * .05)
self.tws1_rot = pri.addNull(self.tws1_loc, self.getName("tws1_rot"), self.ctrn_loc.Kinematics.Global.Transform)
pri.setNullDisplay(self.tws1_rot, 0, self.size * .05, 2, 0, 0, 0, self.size * .01)
t = tra.getFilteredTransform(self.bone1.Kinematics.Global.Transform, True, True, False)
t.SetTranslation(self.guide.apos[2])
self.tws2_loc = pri.addNull(self.bone1, self.getName("tws2_loc"), t, self.size * .05)
self.tws2_rot = pri.addNull(self.tws2_loc, self.getName("tws2_rot"), t)
self.tws2_rot.Kinematics.Global.Parameters("SclX").Value = .001
pri.setNullDisplay(self.tws2_rot, 0, self.size * .05, 2, 0, 0, 0, self.size * .01)
self.addToGroup([self.tws0_loc, self.tws0_rot, self.tws1_loc, self.tws1_rot, self.tws2_loc, self.tws2_rot], "hidden")
# End reference ------------------------------------
t = tra.getFilteredTransform(self.tws2_rot.Kinematics.Global.Transform, True, True, False)
self.end_ref = pri.addNull(self.tws2_rot, self.getName("end_ref"), t, self.size*.2)
self.addToGroup(self.end_ref, "hidden")
self.addShadow(self.end_ref, "end")
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for the elbow.
self.divisions = self.settings["div0"] + self.settings["div1"] + 3
self.div_cns = []
for i in range(self.divisions):
div_cns = pri.addNull(self.tws0_loc, self.getName("div%s_loc" % i), XSIMath.CreateTransform())
pri.setNullDisplay(div_cns, 1, self.size * .02, 10, 0, 0, 0, 1, 1, 2)
self.addToGroup(div_cns, "hidden")
self.div_cns.append(div_cns)
self.addShadow(div_cns, i)